Slip-Control Strategy of Dual Independent Electric Drive Tracked Vehicle  

作　　者：Shuyang Zhang Yunan Zhang Keyan Ning Nanming Yan Qingfeng Fang 

机构地区：[1]Weaponry and Control Department,Army Academy of Armored Forces,Beijing 100072,China [2]China North Vehicle Research Institute,Beijing 100072,China

出　　处：《Journal of Beijing Institute of Technology》2019年第4期715-724,共10页北京理工大学学报（英文版）

摘　　要：In order to improve the brake performance of a dual independent electric drive tracked vehicle,a dynamic model for braking situation was established.Then,a sliding model controller(SMC)with an auxiliary system was designed to control the slip and its effectiveness was proved.A hardware-in-loop simulation through MATLAB/XPC was compared with the normal SMC and normal integral sliding mode controller(ISMC),the results show that SMC with the auxiliary system has a better performance:a smaller overshoot and steady state error.The disturbance is suppressed effectively.In the initial speed of 65.km/h,the brake distance was shortened by 3.4%and 6.8%compared with the other two methods,respectively.Finally,initial speeds of 30-36.km/h tests was carried out on a flat soil road.Compared with a no-control brake,the displacement was shortened by 1.8.m.It demonstrates the effectiveness of the slip-control strategy.In the same situation,the error between the simulation and test is 18.1%,which validates the accuracy of models.

关 键 词：tracked vehicle electric drive braking slip sliding model control 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]