高速电驱动履带车辆操纵特性分析  

Analysis of High-Speed Electric Tracked Vehicle’s Handling Characteristics

作　　者：袁艺[1,2] 盖江涛 周广明[1,2] 高秀才 李训明[1,2] 马长军 YUAN Yi;GAI Jiangtao;ZHOU Guangming;GAO Xiucai;LI Xunming;MA Changjun(China North Vehicle Research Institute,Beijing 100072,China;Science and Technology on Vehicle Transmission Laboratory,Beijing 100072,China;The Sixth Military Representative Office in Beijing of the Army Equipment Department,Beijing 100072,China)

机构地区：[1]中国北方车辆研究所,北京100072 [2]车辆传动重点实验室,北京100072 [3]陆军装备部驻北京地区第六军事代表室,北京100072

出　　处：《兵工学报》2023年第1期203-213,共11页Acta Armamentarii

基　　金：科工局基础产品创新科研项目。

摘　　要：为了奠定高速电驱动履带车辆的操纵稳定性评价及控制的基础,进行了高速电驱动履带车辆开环操纵特性分析及高速电驱动履带车辆横摆运动响应试验,并在此基础上完成了基于人-车-路闭环系统的电驱动履带车辆操纵特性分析。研究结果表明:车速越高,横摆角速度稳定值越小;路面条件越好,车辆横摆角速度响应越快;当考虑电驱动车辆的动态响应特性后,保证闭环系统稳定的驾驶员预瞄时间需要增大,驾驶员最短反应滞后时间缩短;驱动电机响应速度越快,使系统稳定的最小预瞄时间越大。In order to lay the foundation for the evaluation and control of the high-speed electric tracked vehicle’s handling stability, the open-loop handling characteristics of the vehicle are analyzed, and the vehicle yaw motion response test is conducted. Then, on this basis, the vehicle’s handling characteristics based on the driver-vehicle-road closed-loop system are analyzed. The results show that: the higher the vehicle speed is, the smaller the yaw rate stability value is;the better the road condition is, the faster the yaw rate response is;when the dynamic response characteristics of the vehicle are considered, the driver’s preview time to ensure the stability of the closed-loop system needs to be increased, and the driver’s shortest reaction delay time is shortened. In addition, faster response speed of the drive motor requires greater minimum preview time to ensure the system stability.

关 键 词：电驱动履带车辆 高速履带车辆 操纵特性 横摆运动 人-车-路闭环系统 

分 类 号：TJ811[兵器科学与技术—武器系统与运用工程]