Electric Axle and Wheel Module Driveline Concepts for Self-propelled Agricultural Machinery and Equipment Carriers

TL;DR

This paper compares electric axle and wheel module driveline concepts for self-propelled agricultural machinery, highlighting design flexibility, efficiency, and control features of each approach.

Contribution

It introduces and evaluates detailed axle and wheel module concepts, emphasizing their engineering requirements and potential advantages for agricultural vehicles.

Findings

Wheel modules offer maximum design freedom and redundancy.

Axle modules provide lower cost and structural rigidity.

Both concepts enable integrated control and steering with minimal vehicle interface.

Abstract

Direct electric drivelines without power-split open new design freedom for frame and suspension design, along with often lower energy losses. This paper focuses on self-propelled agricultural machinery (combine and forage harvest-ers, root crop harvesters), equipment carriers, propelled trailers and field robots. For a typical vehicle with four driven wheels, the electric motors can be packaged as two axle modules or four wheel modules, both defined herein as self-contained mechatronic units with integrated power electronics, distributed control intelligence and steering. Axle module and wheel module concepts are compared in detail against engineering requirements including loads, effi-ciency, steerability, controllability, braking, suspension, structural load support, asymmetric wheel loading and manu-facturing cost. The wheel module offers maximum design freedom, redundancy and controllability, while the axle module provides lower cost, structural rigidity, automatic load sharing through the differential and the ability to be used in existing vehicle structures. Both concepts are defined such that distributed control intelligence and steering are integral to each unit, requiring only a DC power bus and communication interface from the vehicle.