静液驱动履带车辆行驶控制策略研究  

Research on driving control strategy of hydrostatically driven tracked vehicles

作　　者：陈漫[1] 张存振 马彪[1] 薛嘉琪 郑良杰 于亮[1] CHEN Man;ZHANG Cun-zhen;MA Biao;XUE Jia-qi;ZHENG Liang-jie;YU Liang(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081

出　　处：《广西大学学报（自然科学版）》2022年第4期965-976,共12页Journal of Guangxi University（Natural Science Edition）

基　　金：国家自然科学基金项目(52175037,51975047);中国博士后科学基金项目(2021M700422)。

摘　　要：为提高静液驱动履带车辆行驶控制性能,设计了基于马达转速调节的车辆行驶控制策略,并采用线性自抗扰控制算法调节马达输出转速。首先建立了静液驱动系统流体动力学模型,获得以马达转速为输出的系统传递函数;然后基于履带车辆行驶动力学和运动学原理建立了以两侧马达目标转速为控制量的车辆数学模型;在此基础上根据静液驱动系统特点制定整车行驶控制策略并设计线性自抗扰控制器,对马达转速进行闭环控制;最后在MATLAB/Simulink中进行仿真分析,验证了车辆行驶控制策略的有效性。结果表明:线性自抗扰控制算法在不同工况下可有效控制车辆完成稳定的直线、转向行驶,与经典PID控制算法相比,具有响应速度快、无超调和抗干扰能力强的优点。In order to improve the driving control performance of hydrostatically driven tracked vehicles, a vehicle driving control strategy based on hydraulic motor speed regulation was proposed, and the linear active disturbance rejection control algorithm was used to adjust the hydraulic motor output speed. Firstly, the hydrodynamic model of the hydrostatic drive system was established, and the system transfer function with the hydraulic motor speed was obtained. Then, based on the driving dynamics and kinematics of the tracked vehicle, the vehicle mathematical model was developed with the target speed of the hydraulic motors on both sides as the control quantity.On this basis, the vehicle driving control strategy was formulated in accordance with the hydrostatic driven system, and a linear active disturbance rejection controller was designed to perform closed-loop control of the hydraulic motor speed. Finally, simulation analysis was carried out in MATLAB/Simulink to verify the effectiveness of the vehicle driving control strategy. The simulation results show that the proposed control algorithm can effectively control the vehicle to complete stable straight-line and steering driving under different working conditions. Compared with the classical PID control algorithm, it has the advantages of fast response speed, no overshoot and strong anti-interference ability.

关 键 词：履带车辆 静液驱动 控制策略 线性自抗扰控制 

分 类 号：TH137.1[机械工程—机械制造及自动化]