【摘要】 针对现有设施电动农机存在与茄果种植垄作参数适配性不足及长续航能力较差等问题，设计一种棚锂双电履带拖拉机。基于作业需求设计了整机关键部件，提出以动力电池和棚电为核心的双电系统电气架构，并制定了相应的电源切换控制策略。利用RecurDyn软件建立了履带拖拉机虚拟样机模型，对其直线行驶与转向工况动力学特性进行仿真分析。样机性能试验结果表明，预充系统可在410 ms内将直流母线电压提升至预期值，在动力电池与棚电切换过程最大电压波动率为9.8%,切换时间为700 ms,整机高压系统对地绝缘阻值均大于30 MΩ,整体表现出良好的电气稳定性与运行安全性。在典型设施土壤条件下，动力电池模式和棚电模式平均偏驶率分别为4.8%和5.1%,最小转向半径为1 168.5 mm;在旋耕作业工况下，动力输出(PTO)电机转速波动率最大为5.9%,平均转速为541 r/min,均满足国家标准。设施场景实地测试结果表明，棚电模式整机工作损耗率高于动力电池模式5.2个百分点。棚锂双电源拖拉机在持续作业能力和转场机动性等方面具有互补性，为设施农业动力装备提供一种良好的解决方案。更多还原

【Abstract】 Aiming at the problems of insufficient adaptability to ridge-planting parameters and limited endurance in existing electric agricultural machinery, a dual-power crawler tractor was designed. Based on operational requirements, the key components were designed and matched. An electronic architecture centered on a dual-power system, consisting of a power battery and greenhouse grid power was proposed, along with a corresponding power switching control strategy. The crawler tractor’s virtual prototype model was established by using RecurDyn software, and dynamic characteristic simulations were conducted for its straight-line driving and steering conditions. The performance testing of the prototype showed that the pre-charging system can raise the DC bus voltage to the expected value within 410 ms. During the switching process between the power battery and greenhouse grid power, the maximum voltage fluctuation rate was 9.8%, with switching time of 700 ms. The insulation resistance of the entire high-voltage system to ground was greater than 30 MΩ, demonstrating good electrical stability and operational safety. Under typical greenhouse soil conditions, the average deviation rates during straight-line travel were 4.8% in power battery mode and 5.1% in greenhouse grid power mode, with minimum turning radius of 1 168.5 mm. Under rotary tillage conditions, the maximum speed fluctuation rate of the power take-off(PTO) motor was 5.9%, and the average speed of the PTO shaft was 541 r/min, both meeting national standards. Field tests in the facility showed that the overall energy loss rate in greenhouse grid power mode was 5.2 percentage points higher than that in power battery mode. The dual-power tractor exhibited complementary advantages in continuous operation capability and mobility, providing an effective solution for power equipment in protected agriculture.更多还原