重型特种装备车辆多轴协调速度控制方法研究  

Research on the multi-axis coordinated speed control method of heavy special equipment vehicles

作　　者：菊睿 李孝全[1] 刘海平[1] 张佳丽[1] 张文博 JU Rui;LI Xiaoquan;LIU Haiping;ZHANG Jiali;ZHANG Wenbo(Air Defence and Anti-Missile College,Air Force Engineering University,Xi’an 710051,China)

机构地区：[1]空军工程大学防空反导学院,西安710051

出　　处：《兵器装备工程学报》2023年第6期254-260,共7页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(51675530)。

摘　　要：针对重型特种装备的停车定位对驾驶员的驾驶技术要求较高、有些场景需要驾驶员和指挥员协同工作、车辆的行驶轨迹偏移会导致效率低下以及车辆能耗增加的问题,提出了重型特种装备车辆多轴协调速度控制方法,合理控制车辆多轴协调运动轨迹,降低车辆能源消耗。通过获取车辆虚拟主轴运动的速度与加速度作为约束条件,采用三次样条插值法建立车辆虚拟主轴和从轴间的传动关系模型;以约束条件和传动关系模型为基础,结合S形速度控制算法,设计车辆多轴协调运动最优速度控制模型,实现车辆多轴协调速度控制。仿真结果表明,所提方法可有效控制车辆主轴与从轴的位移、速度与角度,有效控制车辆多轴协调周期性,与理想参数差距较小,控制精度较高;可降低车辆的能源消耗,提升车辆综合效率。The parking positioning of heavy special equipment has high requirements on the driver’s driving skills,some scenarios require the driver and the commander to work together,and the deviation of the driving trajectory of a vehicle leads to a low efficiency and an increased vehicle energy consumption.Aiming at these problems,this paper proposes a multi-axis coordinated speed control method for heavy special equipment vehicles to reasonably control the multi-axis coordinated motion trajectory and reduce vehicle energy consumption.With the obtained speed and acceleration of the virtual main shaft motion of the vehicle as the constraint conditions,the proposed control method uses the cubic spline interpolation method to establish a transmission relationship model between the virtual main shaft and the slave shaft of the vehicle.Based on the constraints and the transmission relationship model,combined with the S-shape speed control algorithm,the proposed control method designs an optimal speed control model of vehicle multi-axis coordinated motions to realize vehicle multi-axis coordinated speed control.The simulation results show that the proposed method can effectively control the displacement,speed and angle of both the main shaft and the slave shaft,and effectively control the multi-axis coordination periodicity of the vehicle,which makes a small gap with the ideal parameters and a high control accuracy.It can also reduce the energy consumption of the vehicle and improve the overall vehicle efficiency.

关 键 词：重型特种装备 车辆多轴协调 速度控制 B样条曲线 虚拟主轴 电子凸轮 

分 类 号：TH243[机械工程—机械制造及自动化]