基于转矩控制策略的电传动履带车辆驱动特性研究  

Research on Driving Performances of Electric Transmission Tracked Vehicles Based on Torque Control Strategy

作　　者：孙逢春[1] 陈树勇[1] 郭汾[1] 

机构地区：[1]北京理工大学机械与车辆工程学院,北京100081

出　　处：《兵工学报》2007年第2期129-133,共5页Acta Armamentarii

基　　金：国家"十五"预研项目(404020701.1A)

摘　　要：从原理上探讨了通过直接控制左右侧电机的输出转矩大小来控制某电传动履带车辆整车运动的可行性，提出了转矩控制策略，建立了基于多体动力学软件RecurDyn／Track-HM的履带车辆整车行动部分三维多体动力学虚拟样机模型和基于控制系统分析软件Matlab／Simulink的综合控制器及电机控制系统模型，同时基于上述不同软件的接口技术建立了机械系统和控制系统协同仿真模型，对0～32km／h的加速时间、不同车速下的100m直驶偏移量、B／2转向及15°爬坡性能等驱动特性进行了协同仿真及实车试验研究，通过分析和比较验证了模型及转矩控制策略的正确性，为进一步深入研究其它驱动特性奠定了基础。The feasibility study on controlling the movement of an electric transmission tracked vehicle through controlling the output torques of left and right side motors directly was discussed in principle. The torque control strategy was put forward. The 3-D multi-body dynamics virtual prototype model of tracked vehicle running gear and the models of integrated controller and motor control systems were built based on multi-body dynamics analysis software RecurDyn/Track-HM and control system analysis software Matlab/Simulink. Also, the collaborative simulation model based on interface technology of different softwares was built. Under the conditions of the acceleration time （0-32 km/h）, straightline offset data in 100 m at different velocities, B/2 steering and climb ability of 15＂ slope, the vehicle＇s driving performances were researched by collaborative simtilation and reality vehicle test. The correctness of the model and torque control strategy is validated by analysis and comparison, which lays the foundation for further research on other driving performances.

关 键 词：机械学 车辆工程 电传动 转矩控制 驱动特性 履带车辆 

分 类 号：TJ811[兵器科学与技术—武器系统与运用工程]