Full
Outline
Aiming to address issues such as low energy utilization efficiency and insufficient speed stability in electric tractor traction operations, an energy-saving control method was proposed based on a four-motor dual-coupled power system (FDPS). The FDPS combined the characteristics of distributed drive for front and rear axles with coupled drive for single axles, supporting single-motor, dual-motor, triple-motor, and quad-motor drive modes. A longitudinal dynamics model for the working unit and a tire-soil interaction model were established, along with motor and transmission system models that characterized the efficiency and dynamic properties of the FDPS. A multi-drive-mode energy-saving control architecture matching traction workload was proposed. The upper layer employed a hybrid penalty function particle swarm algorithm to offline generate FDPS drive mode switching and multi-motor optimal torque distribution rules based on varying demand driving forces and operating speeds. The lower layer integrated a fuzzy PID algorithm to online identify the machine's demand driving force with precision while tracking target operating speeds. A 900-second energy-saving control bench test was conducted by using field-measured traction resistance data. Test results demonstrated that the proposed method reduced energy consumption by 3.76% and lowered the root mean square speed error by 11.1% compared with the average torque distribution control strategy, enhancing the machine's operational economy and speed stability. The proposed power system can serve as a universal power platform, and the energy-saving control method can provide a reference for multi-power-source drive control research in electric tractors.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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