CN110254204B - Loading and walking hybrid driving sanitation operation vehicle and control method thereof - Google Patents

Abstract

The invention discloses a loading and walking hybrid driving sanitation operation vehicle, which comprises: an engine having an output shaft on which a gear is fixed; the driving axle is connected with the output shaft, and two ends of the driving axle are connected with driving wheels; the generator is provided with a transmission shaft, and a first spline hub is coaxially fixed on the transmission shaft; the first idler gear is sleeved on the transmission shaft and meshed with the gear; the first idler gear is fixedly arranged inside and engaged with the first outer gear ring; a first engagement sleeve slidably coupled to the first spline hub; a top-mounted motor electrically connected to the motor; a battery electrically connected with the upper motor; the input end of the planetary gear reduction mechanism is fixedly connected with the output end of the upper motor, and the planetary gear reduction mechanism comprises a planet carrier gear; the second spline hub is fixed in the middle of the output shaft; the second idler gear is sleeved on the output shaft and meshed with the planet carrier gear; the second idler gear is fixedly connected with a second outer gear ring; and the second joint sleeve is in sliding connection with the second spline hub.

Description

A top-loading and walking hybrid drive sanitation work vehicle and its control method

technical field

The invention relates to the field of hybrid electric vehicles, in particular to a top-loading and walking hybrid drive sanitation work vehicle and a control method thereof.

Background technique

In recent years, with the increasingly serious energy and environmental problems, energy conservation and environmental protection have become a major theme of today's development. The automobile industry is also gradually developing in the direction of energy conservation and environmental protection. Various new energy vehicles have emerged as the times require. The emergence of new technologies such as pure electric vehicles, hybrid vehicles, and fuel cell vehicles has accelerated the transformation and upgrading of automobile energy utilization. Among them, hybrid vehicles have won the favor of various automobile manufacturers and consumers due to their relatively mature technology, convenient energy acquisition methods and driving range comparable to traditional vehicles, and have become one of the main directions for the development of new energy vehicles today.

With the improvement of energy conservation and environmental protection awareness, people's strict requirements on energy consumption and emissions are not limited to passenger cars and commercial vehicles, but also put forward higher requirements on energy consumption and emissions of special-purpose vehicles. Since the reform and opening up, my country's urbanization process has gradually accelerated, and the problem of urban road cleaning has become an unavoidable problem, and the emergence of sanitation vehicles has greatly improved this problem. Compared with sanitation workers, sanitation vehicles have a high cleaning efficiency and have been recognized by people.

However, most of the current sanitation vehicles have a chassis that operates independently, and the upper part is driven by a separate engine to drive the fan and high-pressure water pump to realize the cleaning function of the vehicle. The two are independent of each other and have no direct relationship. This leads to two problems that are unfavorable to the economy of operation (traveling and cleaning). On the one hand, the driving speed of sanitation work vehicles is relatively low during cleaning operations, generally 3-20km/h. In order to take into account the power requirements for cleaning and transition, the chassis engine generally has a large power selection, which results in a low load rate of the chassis engine when cleaning at low speeds, and the operating point is far away from its optimum fuel consumption rate range, resulting in waste of power and fuel consumption. Economically poor. On the other hand, when driving at high speed in the transition, although the load rate of the chassis engine is high and the driving fuel economy becomes better, the auxiliary engine power source for driving the fan and high-pressure water pump on the upper body is a useless load, which increases the load of the whole vehicle and wastes the vehicle fuel, resulting in a decrease in transportation efficiency. In addition, both the chassis engine and the bodywork auxiliary engine are mechanically connected to their loads (the chassis engine is the wheel, and the bodywork auxiliary engine is the fan, high-pressure water pump and other cleaning devices), so the mechanical decoupling has not been realized. The operating point is changed by the operating state of the load, so it is impossible to adjust its operating point to improve fuel economy, and when each encounters a high power demand, there is no additional power source to provide auxiliary power input for it, resulting in high energy consumption, loud noise, Disadvantages of poor emissions. Therefore, considering the problems of energy saving and environmental protection, it is an inevitable trend to develop sanitation vehicles with new dynamic devices.

At present, some companies in the industry and relevant colleges and universities are already designing and developing new dynamic device sanitation vehicles, and have achieved some results, such as: a patent with the publication number CN102383388A "a hybrid drive system for a large road sweeper" , the system only needs one internal combustion engine. In the operation mode, the engine is used to drive the bodywork while driving the chassis to run. In the transition mode, the engine is used to drive the chassis independently. The hybrid sanitation work vehicle can make the engine run in a high-efficiency zone and improve The load rate of the engine is reduced, and the fuel consumption is reduced; the patent "a hybrid sweeper" with the publication number CN102704427A realizes that the chassis is driven by the engine in the operation mode, the upper body is driven by the motor, and the chassis is driven by the engine alone in the transition mode. A hybrid sanitation work vehicle that can charge the battery pack while running, so that the engine can work in a high-efficiency range in the transition mode; the patent with the publication number CN104527403A "a large-scale hybrid electric road sweeper power drive system and its The power system of this technology only needs an engine equivalent to the power of the auxiliary engine of the original vehicle. In the operation mode, the engine is used to drive the bodywork, the motor drives the chassis to run, and in the transition mode, the parallel hybrid drive is used. Hybrid sanitation work vehicle configuration, thereby increasing the engine load rate and improving fuel economy; 1671-7988 (2013) 07-52-03 article "Plug-in hybrid sweeper power battery system matching" published in Automotive Practical Technology Magazine and design", to realize the use of batteries to drive the bodywork in the operation mode, the engine to drive the chassis to run, and the hybrid sanitation work vehicle driven by parallel hybrid power in the transition mode, which reduces the size of the engine and reduces the quality of the vehicle, while ensuring The engine works in an ideal working range in the transition mode; the patent with the publication number CN204738260U "a power system for cleaning, a sweeping vehicle and a hybrid system" realizes that the engine drives the bodywork in the work mode, and the motor drives the chassis Running, in the transition mode, the motor drives the chassis to run the hybrid sanitation work vehicle, so that the engine works in a high-efficiency range, the transition mode achieves zero emissions, and the start and stop are quick; a new energy sanitation work vehicle launched by Italy Roadbao ——D-zero. D-zero is a pure electric sanitation work vehicle with the advantages of zero operation difficulty, convenient charging, zero emission and low noise, which can greatly reduce exhaust emissions and reduce air pollution. However, this work vehicle is a small sanitation work vehicle with limited cleaning capacity , and the pure electric drive mode has high requirements on battery performance, but the current problem of battery energy density has not been well resolved, making it difficult to apply this pure electric drive mode to medium and large sanitation work vehicles.

Contents of the invention

In order to solve the shortcomings of the current technology, the present invention provides a top-loading and walking hybrid drive sanitation work vehicle, which provides different power driving methods according to two different working modes to ensure high-efficiency operation of the engine.

The present invention also provides a control method for a sanitation work vehicle driven by a combination of bodywork and walking, in which the engine and the bodywork motor jointly participate in the transition mode drive, thereby reducing the matching engine power and using the engine to provide stable driving power requirements.

The technical solution provided by the present invention is: a top-loading and walking hybrid drive sanitation work vehicle, comprising:

an engine having an output shaft on which a gear is fixed;

A drive axle, which is connected to the output shaft, and the two ends of the drive axle are connected to drive wheels;

a generator having a drive shaft;

a first splined hub coaxially secured to said drive shaft;

a first idler gear, which is sleeved on the transmission shaft and meshes with the gear;

a first external ring gear, which is fixed inside the first idler gear;

a first sleeve, which is slidably connected to the first spline hub, and the first sleeve can move axially to selectively engage or disengage with the first outer ring gear;

a bodywork motor electrically connected to the generator;

a battery electrically connected to said bodywork motor;

A planetary gear reduction mechanism, the input end of which is fixedly connected to the output end of the bodywork motor, and the planetary gear reduction mechanism includes a planet carrier gear;

a second splined hub secured to the middle of the output shaft;

a second idler gear, which is sleeved on the output shaft and meshed with the planet carrier gear;

a second outer ring gear, which is fixed inside the second outer ring gear;

a second sleeve, which is slidably connected to the second spline hub, and the second sleeve can move axially to selectively engage or disengage with the second external ring gear;

The working device is fixed at the output end of the planetary gear reduction mechanism.

Preferably, the operating device includes: a fan, a high-pressure water pump and a sweeping device;

Wherein said brushing device comprises:

a gear pump, the input end of which is connected to the output end of the output end of the planetary gear reduction mechanism;

A cycloidal motor, the input end of which is connected to the output end of the gear pump;

The brushing mechanism, the input end of which is connected to the output end of the cycloidal motor.

Preferably, it also includes:

a clutch disposed between the output of the engine and the gear;

A transmission is arranged between the second idler gear and the drive axle.

A centrifugal automatic clutch is provided between the planetary gear reduction mechanism and the working device.

Preferably, the planetary gear reduction mechanism also includes:

shell, and

The planet carrier, its outer part is fixedly connected with the planet carrier gear, and one end is fixedly connected with the centrifugal automatic clutch;

The center of the sun gear is connected with the output end of the bodywork motor.

an inner ring gear fixed to the housing;

A plurality of planetary gears, which are rotatably supported at the other end of the planetary carrier, are evenly arranged between the sun gear and the ring gear, and mesh with the sun gear and the ring gear respectively.

Preferably, it also includes:

A hydraulic pipeline connects the gear pump and the gerotor motor.

A control method for a sanitation work vehicle driven by a combination of top loading and walking, comprising:

When T _t < 0, SOC < SOC _max , the first sleeve is disconnected from the first outer ring gear, the second sleeve is engaged with the second outer ring gear, the engine and generator do not work, and the bodywork motor generates power; among them, T _t is the total driving torque, SOC is the remaining power of the battery; SOC _max is the maximum remaining power of the battery;

When T _t <T _{e_min} , SOC _av <SOC≤SOC _max , the first sleeve is disconnected from the first outer ring gear, the second sleeve is engaged with the second outer ring gear, the engine does not work, and the battery-driven bodywork motor works; where , T _{e_min} is the lower limit of the driving torque in the optimal working range of the given engine speed, and SOC _av is the set charge and discharge limit;

When T _t <T _{e_min} , SOC _min <SOC≤SOC _av , the first engaging sleeve is engaged with the first outer ring gear, the second engaging sleeve is disconnected from the second outer ring gear, the engine and generator work, and the bodywork motor does not Working; SOC _min is the minimum remaining power of the battery;

When T _t <T _{e_min} , SOC ≤ SOC _min , the first sleeve is engaged with the first outer ring gear, the second sleeve is disconnected from the second outer ring gear, the engine and generator work, and the bodywork motor does not work;

When T _{e_min} ≤ T _t ≤ T _{e_max} , SOC _av ≤ SOC ≤ SOC _max , the first sleeve is engaged with the first outer ring gear, the second sleeve is disconnected from the second outer ring gear, the engine and generator work, The bodywork motor does not work; among them, T _{e_max} is the upper limit of the driving torque in the best working range of the given engine speed;

When T _t > T _{e_max} , SOC _min < SOC ≤ SOC _max , the first sleeve is disconnected from the first outer ring gear, the second sleeve is engaged with the second outer ring gear, the engine and bodywork motor work, and the generator does not Work;

When T _t >T _{e_max} , SOC<SOC _min , the first sleeve is disconnected from the first outer ring gear, the second sleeve is disconnected from the second outer ring gear, the engine works, and the generator and bodywork motor do not work.

Preferably, the charge and discharge limit SOC _av satisfies:

Preferably, the remaining battery power is measured in real time based on a Kalman filter method.

Preferably, when T _t < T _{e_min} , SOC _min < SOC ≤ SOC _av or T _t < T _{e_min} , SOC ≤ SOC _min or T _e-min ≤ T _t ≤ T _{e_max} , SOC < SOC _av , the engine is generating electricity The power P _{e_g} provided by the engine is:

P _{e_g} = (T _{e_max} -T _t )n _e

Among them, T _{e_max} is the output torque of the engine, and n _e is the output speed of the engine.

Preferably, when T _t >T _{e_max} , SOC _min <SOC≤SOC _max , the output torque T _m of the bodywork motor is:

T _m =T _t -T _{e_max} .

Beneficial effects of the present invention:

1. The top-loading and walking hybrid drive sanitation work vehicle of the present invention cancels the auxiliary engine with poor emission performance of the traditional sanitation work vehicle, thereby reducing the emission, noise and environmental pollution during working conditions.

2. In the operation mode of the top-loading and walking hybrid drive sanitation work vehicle of the present invention, the chassis engine can drive the vehicle to walk at a low speed while providing power input for the top-mounted cleaning operation device or charging the battery by driving the top-mounted generator to generate electricity. Thereby, the load rate of the chassis engine is improved, and because the working condition is stable during the cleaning operation, by reasonably matching the displacement and power of the engine, it can be ensured that the chassis engine is always in its optimal working range in the operation mode.

3. In the operation mode of the top-loading and walking hybrid drive sanitation work vehicle of the present invention, the top-loading abandons the auxiliary engine power device and replaces it with pure electric drive, which has low noise, no disturbance to the people, and no pollution. It is very suitable for cleaning at night or in the early morning homework tasks.

4. The top-loading and walking hybrid drive sanitation work vehicle of the present invention is driven by the engine and the top-mounted motor together in the transition mode, so that the power of the matching engine can be reduced, and the engine can provide stable driving power requirements. When it is sufficient, the pure electric drive/power generation system of the upper-mounted battery can be used to realize the peak-shaving and valley-filling effect on the stable output power of the engine. That is to avoid the problem of unnecessary increase in vehicle power loss when the bodywork drive system is only used as a load in the transition mode. At the same time, due to the selection of a smaller power engine, the engine load rate increases, and because of the hybrid drive scheme, the engine operating condition is stable and the fuel economy is high. good.

5. In the operating mode of the top-loading and walking hybrid drive sanitation work vehicle of the present invention, the maximum required power mainly comes from the top-loading operation system, so the top-loading operation system can either work under the pure electric drive of the power battery or The hybrid drive mode of the engine and the power battery is adopted; while the chassis drive can only be driven by the engine alone due to the small power demand. In the transition mode, all required power comes from the chassis drive system, so the chassis drive adopts the mixed drive mode of the engine and the electric motor. The capacity of the power battery and the size of the engine can be reduced through reasonable selection, so as to maximize the utilization of energy, reduce the size of the drive system, save layout space, reduce costs, and reduce the quality of the vehicle.

Description of drawings

Fig. 1 is a schematic structure diagram of the power system of the above-mentioned top loading and walking hybrid drive sanitation work vehicle of the present invention.

Fig. 2 is a diagram of the electrical connection relationship of the top-loading and walking hybrid drive sanitation work vehicle of the present invention.

Fig. 3 is a control flow chart of the sanitation work vehicle driven by the combination of top loading and walking in the transition mode of the present invention.

Fig. 4 is a control flow chart of the sanitation work vehicle operating in the mixed driving mode of top loading and walking according to the present invention.

Fig. 5 is a diagram of the working range of the engine of the top-loading and walking hybrid drive sanitation work vehicle of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

As shown in Figures 1-3, the present invention is a top-loading and walking hybrid drive sanitation work vehicle and a control method thereof for a hybrid power sanitation work vehicle. The power drive system of the top-loading and walking hybrid driving sanitation work vehicle of the present invention can select different power transmission modes for the sanitation work vehicle under transition conditions and operation conditions through the driver's manipulation of the mode switching button. The power system of the sanitation work vehicle in the present invention is mainly composed of a chassis driving system 700 and a body work system 800 . The chassis driving system 700 is composed of an engine 100 , a clutch 101 , a gear 102 , a transmission 103 , a drive axle 104 , a driving wheel 105 , and a mode switching device 2 300 . The bodywork operation system 800 is composed of a mode switching device 1 200, a generator 401, a bodywork motor 402, a battery 403, a sprinkler motor 404, a planetary gear reduction mechanism 500, a centrifugal automatic clutch 601, a fan 602, a gear pump 603, and a cycloidal motor. 604, a sweeping brush mechanism 605, and a high-pressure water pump 606 are formed.

In the chassis driving system 700 , the output end of the crankshaft of the engine 100 is mechanically connected with the drive disc of the clutch 101 . The mode switching device 2 300 is composed of a second idler gear 301 , a second outer ring gear 302 , a second sleeve 303 and a second spline hub 304 . The second idler gear 301 is idle on the transmission shaft, and the second outer ring gear 302 is fixedly connected with the second idler gear 301. The driven disc of the clutch 101 is mechanically connected with the gear 102 and the second spline hub 304. The second sleeve 303 is processed with a sliding inner spline, and the second outer ring gear 302 and the second spline hub 304 are joined with a sliding outer spline. The second sleeve 303 and the second spline hub 304 are always in a sliding connection state. The second engaging sleeve 303 can move axially, the second engaging sleeve 303 moves rightward and engages with the second outer ring gear 302 , and the second engaging sleeve 303 moves leftward and engages with the second outer ring gear 302 to disconnect. The second spline hub 304 of the mode switching device 2 300 is fixedly connected to the input end of the transmission 103, and the output end of the transmission 103 is mechanically connected to the driving axle 104, and the driving axle 104 is further mechanically connected to the driving wheels 105 on the left and right sides.

In the bodywork system 800 , the first mode switching device 200 is composed of a first idler gear 201 , a first outer ring gear 202 , a first sleeve 203 and a first spline hub 204 . The first idler gear 201 is idle on the transmission shaft, and the first idler gear 201 is in constant mesh with the gear 102 of the chassis driving system 700. The first idler gear 201 is fixedly connected with the first outer ring gear 202. The sleeve 203 is processed with sliding internal splines, and the first external ring gear 202 and the first spline hub 204 are processed with sliding external splines. The first sleeve 203 and the first spline hub 204 are always in a sliding connection state. An engaging sleeve 203 can move axially, the first engaging sleeve 203 moves leftward and engages with the first outer ring gear 202 , and the first engaging sleeve 203 moves rightward and engages with the first outer ring gear 202 to disconnect. The first splined hub 204 is mechanically connected to the input of the generator 401 . Between the generator 401 and the top-loading motor 402, between the generator 401 and the sprinkling motor 404, between the generator 401 and the battery 403, all adopt wire connection mode, between the battery 403 and the top-loading motor 402, between the battery 403 and the sprinkling motor 404 The rooms are connected by wires. The planetary gear reduction mechanism 500 is composed of a sun gear 501 , a planetary gear 502 , a planetary carrier 503 , an inner ring gear 504 and a planetary carrier gear 505 . The output end of the bodywork motor 402 is mechanically connected with the sun gear 501 of the planetary gear reduction mechanism 500, the ring gear 504 of the planetary gear reduction mechanism 500 is fixed on the housing, and the planetary carrier 503 of the planetary gear reduction mechanism 500 is connected to the planetary carrier gear. 505 is fixedly connected, and the planet carrier gear 505 is constantly meshed with the second idler gear 301; there are three planetary gears 502 evenly distributed between the sun gear 501 and the inner ring gear 504 of the planetary gear reduction mechanism 500, and are respectively connected with the sun gear 501 and the inner ring gear 504. The ring gear 504 meshes; the three planetary gears 502 are rotatably supported on their respective central planetary shafts, and the planetary shafts are fixedly connected to the planetary carrier 503 of the planetary gear reduction mechanism 500; the planetary carrier 503 of the planetary gear reduction mechanism 500 is connected to the centrifugal The input end of the automatic clutch 601 is mechanically connected, the output end of the centrifugal automatic clutch 601 is mechanically connected to the fan 602, the gear pump 603 and the high-pressure water pump 606, and the gear pump 603 and the cycloid motor 604 are connected through a hydraulic pipeline , the mechanical connection between the cycloidal motor 604 and the brushing mechanism 605 .

As shown in Figure 4 and Table 1, the specific steps of the control program flow of a top-loading and walking hybrid drive sanitation work vehicle and its control method in the transition mode according to the present invention are as follows:

After power-on, the vehicle controller of the sanitation work vehicle is initialized, the self-inspection process is completed, and the mode switching control parameters are read, including: the lower limit SOC _min and the upper limit SOC _max of the battery SOC, the values are shown in Table 3, and the charge and discharge limits The value SOC _av , the universal characteristic curve of the engine (stored in the program in the form of a data table), the lower limit of the driving torque T _{e_min} and the upper limit of the driving torque T _{e_max} of the best working range for a given engine speed. The present invention sets the charging and discharging limit SOC _av as:

The vehicle controller (VCU) obtains control signals in real time through sensors, the mode switching control strategy is stored in the vehicle controller, and the sensors include: pedal displacement sensors, vehicle speed sensors, and battery energy management systems. The pedal displacement sensor is respectively installed at the accelerator pedal and the brake pedal, the vehicle speed sensor is installed at the wheel, the battery energy management system is installed near the battery, and the battery SOC estimation module is arranged in the battery energy management system, The pedal displacement sensor, vehicle speed sensor and battery energy management system transmit the pedal displacement signal, vehicle speed signal and estimated battery SOC value to the VCU through the CAN bus, and the VCU calculates the total demand torque according to the pedal displacement signal and the vehicle speed signal, and processes the The signal of the mode switching device is transmitted to the mode switching device controller through the CAN bus, and the mode switching device controller completes the control of the mode switching device 1 and the mode switching device 2 according to the VCU signal.

According to the control signal obtained by the vehicle controller, the power distribution mode of the power system under the current working condition is determined, and the mode switching operation is completed through the mode switching device controller and the corresponding mode switching device 1 and mode switching device 2. details as follows:

1) When T _t < 0, SOC < SOC _max . The first joint sleeve 203 of the first mode switching device 200 moves to the right, and the second joint sleeve 303 of the second mode switching device 300 moves to the right. The engine 100 does not participate in the drive, the generator 401 is in a stopped state, the bodywork motor 402 is in the power generation mode, the braking energy passes through the transaxle 104, the transmission 103, and the planetary gear reduction device 500 drives the bodywork motor 402 to run in the power generation mode, thereby charging the battery 403 , at this time, the engine output torque is 0.

2) T _t < T _{e_min} , SOC _av < SOC ≤ SOC _max . The first adapter sleeve 203 of the mode switching device 1 200 moves to the right, the second adapter sleeve 303 of the mode switching device 2 300 moves to the right, the engine 100 stops working, and the battery 403 alone drives the bodywork motor 402 to work, and the generated power is used for vehicle running.

3) T _t < T _{e_min} , SOC _min < SOC ≤ SOC _av . The first coupling sleeve 203 of the mode switching device 1 200 moves to the left, the second coupling sleeve 303 of the mode switching device 2 300 moves to the left, the driving system power of the sanitation work vehicle is provided by the engine 100, and at the same time, the engine 100 drives the generator 401 to work, The generated electric energy charges the battery 403, and the bodywork motor 402 stops working. At this time, the output torque of the engine 100 is _{Te_min} , and the power provided for the generator 401 is: P _{e_g} = (T _e-min -T _t ) _ne , where _ne (r/min) is the output of the engine 100 Rotating speed.

4) T _t < T _{e_min} , SOC ≤ SOC _min . The first sleeve 203 of the first mode switching device 200 moves to the left, and the second sleeve 303 of the second mode switching device 300 moves to the left. The power of the driving system of the sanitation work vehicle is provided by the engine 100, and at the same time, part of the power of the engine 100 drives the generator 401 through the mode switching device one 200, and the electric energy generated charges the battery 403, and the upper motor 402 stops working. At this time, the power of the engine 100 The output torque is T _{e_max} , and the power provided by the engine 100 to the generator 401 is: P _eg =(T _e−max −T _t ) _ne .

5) T _{e_min} ≤ _{T t} ≤ T _{e_max} , SOC _av ≤ SOC ≤ SOC _max . The first sleeve 203 of the first mode switching device 200 moves to the right, and the second sleeve 303 of the second mode switching device 300 moves to the left. The power of the engine 100 drives the sanitation vehicle to run through the clutch 101, the transmission 103, the transaxle 104, and the driving wheel 105, and the generator 401 and the bodywork motor 402 are in a shutdown state. At this time, the output torque of the engine 100 is T _t .

6) T _{e_min} ≤ _{T t} ≤ T _{e_max} , SOC < SOC _av . The first sleeve 203 of the first mode switching device 200 moves to the left, and the second sleeve 303 of the second mode switching device 300 moves to the left. Part of the power of the engine 100 passes through the clutch 101, the transmission 103, the transaxle 104 to the drive wheel 105 to drive the sanitation vehicle to travel, and part of it drives the generator 401 to generate electricity through the mode switching device 1 200, and the generated electric energy charges the battery 403, and the top motor 402 is in the In the stopped state, the output torque of the engine 100 is T _{e_max} , and the power provided by the engine 100 to the generator 401 is: P _{e_g} =(T _{e_max} -T _t ) _ne .

7) T _t > T _{e_max} , SOC _min < SOC ≤ SOC _max . The first joint sleeve 203 of the first mode switching device 200 moves to the right, and the second joint sleeve 303 of the second mode switching device 300 moves to the right. The generator 401 stops working, and the battery 403 provides driving power for the bodywork motor 402. After the output torque of the bodywork motor 402 is decelerated by the planetary gear reduction mechanism 500, it is coupled with the output torque of the engine 100. The coupling torque passes through the transmission 103 and the drive axle 104 to the drive Wheel 105 drives the sanitation work vehicle to run. At this time, the output torque of the engine 100 is T _{e_max} , and the output torque of the bodywork motor is T _m =T _t −T _{e_max} .

8) T _t > T _{e_max} , SOC < SOC _min . The first sleeve 203 of the first mode switching device 200 moves to the right, and the second sleeve 303 of the second mode switching device 300 moves to the left. The generator 401 stops working, the battery 403 does not output electric energy, the bodywork motor 402 is in a shutdown state, and the engine 100 alone drives the sanitation work vehicle to run. At this time, the output torque of the engine 100 is T _t .

Table 1. Control strategy in transition mode

As shown in Figure 5 and Table 2, the specific steps of the control program flow of a top-loading and walking hybrid drive sanitation work vehicle and its control method in the operation mode of the present invention are as follows:

After power-on, the vehicle controller of the sanitation work vehicle is initialized, the self-inspection process is completed, and the mode switching control parameters are read, including: the lower limit SOC _min and the upper limit SOC _max of the battery SOC, and the values are shown in Table 3. The universal characteristic curve of the engine, the lower limit of the driving torque T _{e_min} and the upper limit of the driving torque T _{e_max} of the optimal working range of the given engine speed.

The vehicle controller (VCU) obtains control signals in real time through sensors, the mode switching control strategy is stored in the vehicle controller, and the sensors include: pedal displacement sensors, vehicle speed sensors, and battery energy management systems. The pedal displacement sensor is respectively installed at the accelerator pedal and the brake pedal, the vehicle speed sensor is installed at the wheel, the battery energy management system is installed near the battery, and the battery SOC estimation module is arranged in the battery energy management system, The pedal displacement sensor, the vehicle speed sensor and the battery energy management system respectively transmit the pedal displacement signal, the vehicle speed signal and the estimated battery SOC value to the VCU through the CAN bus, and the VCU calculates the total demand torque T _t according to the pedal displacement signal and the vehicle speed signal, and The processed signal is transmitted to the mode switching device controller through the CAN bus, and the mode switching device controller completes the control of the mode switching device 1 and the mode switching device 2 according to the VCU signal.

According to the control signal obtained by the vehicle controller, the power distribution mode of the power system under the current working condition is determined, and the mode switching operation is completed through the mode switching device controller and the corresponding mode switching device 1 and mode switching device 2. details as follows:

1) SOC _min < SOC ≤ SOC _max . The first sleeve 203 of the first mode switching device 200 moves to the left, and the second sleeve 303 of the second mode switching device 300 moves to the left. Part of the power of the engine 100 passes through the clutch 101, the transmission 103, the transaxle 104, and the driving wheel 105 to drive the sanitation vehicle to run. At this time, the torque provided by the engine 100 for the chassis is T _t . At the same time, another part of the power of the engine 100 drives the generator 401 to generate electric energy and the battery 403 jointly participates in driving the bodywork motor 402 to run, thereby providing power for the bodywork. At this time, the output torque of the engine 100 is T _{e_min} , and the engine 100 provides the generator 401 with

The supplied power is: P _eg =(T _e-min -T _t ) _ne .

2) _SOC≤SOCmin . The first sleeve 203 of the first mode switching device 200 moves to the left, and the second sleeve 303 of the second mode switching device 300 moves to the left. Part of the power of the engine 100 passes through the clutch 101, the transmission 103, the transaxle 104, and the drive wheel 105 to drive the sanitation work vehicle to run. At this time, the torque provided by the engine for the chassis is T _t . At the same time, another part of the engine 100 drives the generator 401 to generate electric energy to charge the battery 403, and at the same time drives the bodywork motor 402 to provide power for the fan 602 and the gear pump 603 to operate. At this time, the high-pressure water pump 606 needs to be turned off to ensure that the engine 100 can still work at high speed. within the efficiency range. At this time, the output torque of the engine 100 is T _{e_max} , and the power provided by the engine 100 to the generator 401 is: P _{e_g} =(T _e-max −T _t ) _ne .

In another embodiment, the value of SOC _min is 0.3, and the value of SOC _max is 0.9.

Table 2. Control strategy in operation mode

SOC _min <SOC≤SOC _max T _e =T _{e_o} ; P _{e_g} =(T _eo -T _t ) _ne ; T _t =T _{wn SOC≤SOCmin} T _e =T _e-max ; P _eg =(T _e-max -T _t ) _ne ; T _t =T _wn

Table 3 Reference values of design variable thresholds

variable threshold Reference _SOCmin 0.3 _SOCmax 0.9

Although the embodiment of the present invention has been disclosed as above, it is not limited to the use listed in the specification and implementation, it can be applied to various fields suitable for the present invention, and it can be easily understood by those skilled in the art Therefore, the invention is not limited to the specific details and examples shown and described herein without departing from the general concept defined by the claims and their equivalents.

Claims (8)

1. The utility model provides a facial make-up and walking hybrid drive sanitation operation car which characterized in that includes:

an engine having an output shaft on which a gear is fixed;

the driving axle is connected with the output shaft, and two ends of the driving axle are connected with driving wheels;

a generator having a drive shaft;

a first spline hub coaxially fixed to the drive shaft;

the first idler gear is sleeved on the transmission shaft and meshed with the gear;

the first outer gear ring is fixedly arranged in the first idler gear;

a first engagement sleeve slidably connected to the first spline hub, the first engagement sleeve being axially movable into and out of selective engagement with the first outer gear ring;

a top-mounted motor electrically connected to the generator;

a battery electrically connected to the upper motor;

the input end of the planetary gear reduction mechanism is fixedly connected with the output end of the upper motor, and the planetary gear reduction mechanism comprises a planet carrier gear;

a second spline hub fixed to a middle portion of the output shaft;

the second idler gear is sleeved on the output shaft and meshed with the planet carrier gear;

the second outer gear ring is fixedly arranged in the second idler gear;

a second engagement sleeve slidably connected to the second spline hub, the second engagement sleeve being axially movable into and out of selective engagement with the second external gear ring;

a working device fixed to an output end of the planetary gear reduction mechanism;

a clutch provided between an output end of the engine and the gear;

a transmission disposed between the second idler gear and the transaxle;

a centrifugal automatic clutch provided between the planetary gear reduction mechanism and the working device;

the planetary gear reduction mechanism further includes:

housing body

The outer part of the planet carrier is fixedly connected with the planet carrier gear, and one end of the planet carrier is fixedly connected with the centrifugal automatic clutch;

the center of the sun gear is connected with the output end of the upper motor;

an inner gear ring fixed on the housing;

and the planet gears are rotatably supported at the other end of the planet carrier, uniformly arranged between the sun gear and the annular gear and meshed with the sun gear and the annular gear respectively.

2. The hybrid loading and walking sanitation truck of claim 1, wherein,

the working device includes: the device comprises a fan, a high-pressure water pump and a sweeping device;

wherein, the sweeping device includes:

the input end of the gear pump is connected with the output end of the planetary gear reduction mechanism;

the input end of the cycloid motor is connected with the output end of the gear pump;

and the input end of the brushing mechanism is connected with the output end of the cycloid motor.

3. The hybrid on-board and walk-behind sanitation vehicle of claim 2, further comprising:

and a hydraulic line connecting the gear pump and the gerotor motor.

4. A control method of a loading and walking hybrid drive sanitation work vehicle, comprising the loading and walking hybrid drive sanitation work vehicle according to claim 1; characterized by comprising the following steps:

when T is _t <0，SOC<SOC _max When the engine and the generator do not work, the upper motor generates electricity; wherein T is _t The SOC is the residual electric quantity of the battery, and is the total driving torque; SOC (State of Charge) _max The maximum residual capacity of the battery;

T _t <T _e-min ，SOC _av <SOC≤SOC _max when the engine is in operation, the engine is driven by the battery to operate, and the upper motor is driven by the engine; wherein,,T _e-min lower drive torque limit for optimal operating range of engine given rotational speed, SOC _av Setting a charge-discharge limit;

when T is _t <T _e-min ，SOC _min <SOC≤SOC _av When the engine and the generator work, the upper motor does not work; SOC (State of Charge) _min The minimum residual capacity of the battery is set;

when T is _t <T _e-min ，SOC≤SOC _min When the engine and the generator work, the upper motor does not work;

when T is _e-min ≤T _t ≤T _e-max ，SOC _av ≤SOC≤SOC _max When the engine and the generator work, the upper motor does not work; wherein T is _e-max An upper drive torque limit for an optimal operating range for a given engine speed;

when T is _t >T _e-max ，SOC _min <SOC≤SOC _max When the engine is started, the first connecting sleeve is connected with the first external gear ring, the second connecting sleeve is connected with the second external gear ring, the engine and the upper motor work, and the generator does not work;

when T is _t >T _e-max ，SOC<SOC _min When the engine is started, the first joint sleeve is disconnected with the first outer gear ring, the second joint sleeve is disconnected with the second outer gear ring, the engine works, and the generator and the upper motor do not work.

5. The method for controlling a hybrid loading and traveling sanitation truck according to claim 4, wherein the charge-discharge limit SOC _av The method meets the following conditions:

6. the method for controlling the loading and walking hybrid drive sanitation vehicle according to claim 5, wherein the residual electric quantity of the battery is measured in real time based on a Kalman filtering method.

7. The method for controlling a hybrid loading and traveling driven sanitation truck as claimed in claim 6, wherein,

when T is _t <T _e-min ，SOC _min <SOC≤SOC _av Or T _t <T _e-min ，SOC≤SOC _min Or T _e-min ≤T _t ≤T _e-max ，SOC<SOC _av When the engine supplies power P to the generator _e-g The method comprises the following steps:

P _e-g ＝(T _e-max -T _t )n _e

wherein T is _e-max N is the output torque of the engine _e Is the output rotational speed of the engine.

8. The method for controlling a hybrid loading and traveling driven sanitation truck as claimed in claim 7, wherein,

when T is _t >T _e-max ，SOC _min ＜SOC≤SOC _max At the time, the output torque T of the upper motor _m The method comprises the following steps:

T _m ＝T _t -T _{e_max} 。

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