零差速电传动履带车辆转向负载自适应控制策略研究  

Research on Self-adaptive Steering Control Strategy for Single Motor Crossdrive Electric Transmission for Tracked Vehicles

作　　者：刘翼[1] 毛明[1] 马晓枫[1] 盖江涛[1] 

机构地区：[1]中国北方车辆研究所,北京100072

出　　处：《车辆与动力技术》2013年第1期7-11,共5页Vehicle & Power Technology

基　　金：重点实验室基金项目(9140C340304120C34125)

摘　　要：针对零差速电传动履带车辆,提出了一种包含转速闭环控制的自适应于转向负载的控制策略.通过对转向动力学模型进行等效线性转换,推导了适应模型参考自适应控制基本原理的电机需求转矩计算方程,综合了自适应控制律.对采用转矩控制策略、转速控制策略和自适应控制策略下的3种负载突变转向过程进行了对比仿真.所得结果说明,在应用自适应控制后,地面负载变化时,履带车辆能够获得期望的转向角速度响应.自适应控制策略保持车辆转向稳定性的控制能力优于传统的转矩控制策略和转速控制策略.A steering-load self-adaptive control strategy containing closed-loop speed control has been put forward for single motor crossdrive electric transmission tracked vehicles. Based on the equivalent linearization of steering dynamic model, the desired motor torque calculating equations were derived according to Model Reference Adaptive Control Theory and self-adaptive control laws were integrated. Simulation results of load mutation steering process under self-adaptive control were compared with these under torque control and speed control. The comparison proved that the self-adaptive control strategy could greatly develop the steering stability, and the vehicle could achieve the desired response of steering angular speed. The self-adaptive control strategy could achieve much better steering stability than the conventional torque control strategy and speed control strategy.

关 键 词：履带车辆 零差速电传动 转向稳定性 自适应控制 

分 类 号：U469.6[机械工程—车辆工程]