Field trials with EDX eSeed and ZF Terra+app.claas.com/2013/university-symposia/download/wiesel...cylinder •Problems with voltage regulation of 230V 50Hz AC system when switching

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Field Trials with EDX eSeed and ZF Terra+

2013 Wieselburg eSeed.ppt – Dr. Florian Rahe - 17.06.2013 - © AMAZONE 2013

Field trials with EDX eSeed and ZF Terra+

Dr. rer. nat. F. Rahe,Dipl.-Ing. (FH) T. Wessels, M Sc., Amazonen-Werke H. Dreyer GmbH & Co.KG

Dipl.-Ing. O. Weinmann, Dr. M. Götz, ZF Friedrichshafen AG

4. Kolloquium Elektrische Antriebe in der Landtechnik, Wieselburg 25.6.2013

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Overview

1. Introduction

2. Project ElecTra and ZF Terra+ system

3. EDX eSeed

4. Field trials

5. Summary

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EDX eSeed and ZF ElecTra: Objectives

• Prototype of precision seed drill EDX with high power electric drives• Productive field tests with electrified seeder and ZF-Terra+

electrified tractor• Proof of concept of AC-systems for agricultural applications• Proof of pros and cons of electrification• Gain experience for electrification of agricultural vehicles• No test of some special power connector

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Architecture

• AC or DC architecture

– Location of inverter?

– Till now assessment of these systems based mainly on analysis of architecture

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DC-Architecture

• Tractor– Energy source– Cheaper system

• Implement– Higher costs– Intelligence of control resides on implement– Complex systems possible– Cooling of inverters might be needed on implement

Implement

G3~

ACDC

DCAC

M3~DC

DC

Tractortractor management

ECUECU

DC

ACM3~

ECU

DC

ACM3~

ECUECU

ECU

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AC-Architecture

• Tractor– Energy source– Some intelligence of implement might be needed to reside on tractor

• Implement– Cheaper system– Intelligence of control is distributed– Complex systems hard to realize– Cooling on implement not necessary

Implement

M3~

G3~

ACDC

M3~

DCDC

TractorTractor management

ECU

M3~

ECU

DCAC

ECU

DCAC

ECU

DCAC

ECU

ECU

ECU

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ECU=

3~ =

3~ =

2~

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EDX eSeed and ZF ElecTra – general setup– AC-architecture

bidirectional communication

Power lines:„High-Voltage“Servo drive for grain

separation(230 V)

Electric fan(400 V, 11 kW,

asynchronous drive)

energy management,Inverter and safety system

on tractor

© AMAZONE 2011

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Project ElecTra – Specification

• Vehicle: Deutz-Fahr TTV• Electric Specification

of ZF-Terra+ :– Link voltage: 600VDC– Generator peak power: 85 kW – Generator continuous power (S1): 50 kW

• Electrified engine fan(partly implemented)

• Electric interface toimplement:– 2x 400V AC frequency-controlled– 1x 230V AC 50 Hz– 1x 24/12 V DC

• Cooling system– Separated cooling system for generator

and electric power componentswith electric pump

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ZF-Terra+ integrated generator module –setup and construction

Stator of generator

Rotor of generator mounted to gearbox input shaft

electric connector to generator

Rotor of generator

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ZF-Terra+ system – electrification of tractor and implement

Electric power components TERRA+

Conventional vehicle electronics

Engine controller (EDC)

Tran

smis

sion

+el

ectri

c m

otor

Implement Control Unit (ICU)

Tran

smis

sion

+el

ectri

c m

otor

Gen

erat

or-

mod

ule

Vehicle Drive Control (VDC)

Elec

tric

inte

rface

s

Hybrid-ControlUnit (HCU)

Transmission Control Unit (TCU)

Power electronicsgenerator

Electronic controls TERRA+ andimplement OEM

Power electronicselectric motors

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ElecTra – system overview

Implement

PMSM3~

HCUHybrid control unit

DC link600V DC

3~=

Inverter generator

Interface 400VAC 50Hz 4 kW

12V

DC linkcapacitor

Engine radiator fan drive400VAC 15kW

Electric cooling system

DC/DC converter

24V supply

12V vehicle supply

G Generator

Interface 230VAC 50Hz 4 kW

=3~

=3~

ASM3~

Implement drive 1400VAC

Implement drive 2400VAC

Interface 24VDC

Interface 12VDC

TractorInverter auxiliariesand implement drives

=3~

=3~N

DC/DC converter

Diesel engine

12V =

24V = 600V =

12V =

DC

M12V

Currently not installed on vehicle

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ElecTra prototype– positioning of components

Electric connectorsfor implement at back of tractor

Power electronic located on side of tractor

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EDX eSeed – system overview

Implement

=3~

Seed metering drive 1230VAC 100 W

Implement drive 2400VAC 11kW

12VDC

Tractor

=3~

=3~N

ASM3~

ASM3~

~3~

PSM3~

~3~

PSM3~

Implement drive 1400VAC 11kW

Seed metering drive 2230VAC 100 W

230V 50Hz

HV ECUHere also DC System wouldbe possible if componentswere available

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EDX eSeed – prototype components

Fan drives,each 400 V,11 kW

2 servo drives, 230 V

ECU

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EDX eSeed – Specifications fan drive

• Asynchronous motor• Direct drive• 400V, 11kW, 4000 1/min• IP 6K9K• Air cooled (fan)• Specifications (torque,

speed) derivedfrom test setup

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EDX eSeed – Specifications metering drive

• Decentralizedsynchronous servodrive

• 230V, 0.37 kW,3000 1/min

• IP 65• Passive air cooled• Gear reduction 1:50• CAN-Open interface• Motor is stronger than really needed

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EDX eSeed and ZF Electra – test program

• Setting up operation after finishing vehicle• Stationary tests of tractor without implement

– Test of electric interfaces– Test of Hybrid Control Unit with

software and power management• Stationary tests with EDX eSeed

– Communication– Fan drives (power and controller)– Separation drives (power and controller)

• Field tests– Test of seeding process– Test of controller quality and

speed regulation

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Results field trials – general

• First tests performed on own fields from project partners

• Productive seeding with contractor

• Robust function of the system over the whole test period

• Proper working system even with higher air temperatures and dust

• AC System worked well

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Results field trials – Extended functions

• Reduction of fan speed at headland– Reduced power consumption

• Integrated pressure regulation of separation device

• Additional safetyfeatures

• Active breakingof drives in caseof emergency

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Results field trials – motor speed regulation

Working in field

Head-land

Working in field

Speed reduction

Power reductionin headland

Fast and continuousSpeed change

Fan

spee

dEl

ectr

ical

pow

er,

gene

rato

r and

Driv

es o

n im

plem

ent

Vehi

cle

spee

d

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Results field trials – advantages of electrification

• 30% Reduction of power demand of fan drives compared to hydraulic drives– Reduction of fuel consumption or performance increase

• Reduction of oil heating in tractor oil circuit• Higher dynamic and better regulation of drives

– Improved seeding process• Improved coupling

of implement• Less maintenance

requirement

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Results field trials – lessons learned

• Dynamic of separation drives too high for existing mechanics => breaking of spokes of separation cylinder

• Problems with voltage regulation of 230V 50Hz AC system when switching on inverter of separation drives

• Good PE connection (also to housing) needed to all components belonging to HV system

• It is crucial to define speed and torque requirements for electric drives

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Summary

• EDX eSeed is the first electrified precision seed drill• The ZF project ElecTra realizes a tractor prototype

with ZF Terra+ generator system and intelligent energy management

• Field trails in March and April 2012 were successfully finished and demonstrated a robust working system of tractor and seed drill

• Advantages like improved regulation, dynamic and efficiency could be proofed

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Thank you for your attention!

Documents

Field trials with EDX eSeed and ZF Terra+app.claas.com/2013/university-symposia/download/wiesel...cylinder •Problems with voltage regulation of 230V 50Hz AC system when switching