基于横摆角速度负反馈的电传动履带车辆原地转向控制策略  

Control Strategy for Electric Tracked Vehicle Pivot Steering Based on Yaw Velocity Negative Feedback

作　　者：陈泽宇[1] 赵广耀[1] 翟丽[2] 佟尚锷[1] 

机构地区：[1]东北大学,沈阳110819 [2]北京理工大学,北京100081

出　　处：《中国机械工程》2013年第22期3062-3066,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50975027);北京理工大学电动车辆国家工程实验室开放基金资助项目(2012-NELEV-03);中央高校基本科研业务费专项资金资助项目(N110303007)

摘　　要：针对电传动履带车辆的原地转向问题进行了转向控制策略研究。建立了转向动力学模型,进而提出一种基于横摆角速度负反馈的双侧电传动履带车辆原地转向控制策略,将电机最大力矩作为力矩控制初始值以提高转向响应能力,引入横摆角速度负反馈并通过方向盘转角信号控制负反馈增益;对负反馈函数中的参数M与k对控制效果的影响进行了理论分析,为控制系统的设计提供了依据;进行了MATLAB仿真,仿真结果表明控制策略合理有效。Pivot steering control strategy was researched for the electric tracked vehicle .A pivot steering dynamics model was built and then a control strategy for dual electric tracked vehicle based on yaw velocity negative feedback was proposed .Strategy firstly made motors’ maximum torque as ini-tial values to improve dynamics response capability ,and then drew into yaw velocity negative feed-back .Gain of yaw velocity feedback was controlled by steering wheel input signals .Influences of pa-rameters M and k in negative feedback function on control effectiveness were analyzed ,which provides theoretical basis for control system design .The strategy presented was validated by MATLAB simu-lation ,the results show that control strategy is correct and efficient .

关 键 词：履带车辆 原地转向 控制策略 仿真 

分 类 号：U461.2[机械工程—车辆工程]