静液驱动履带车辆模型辨识与运动控制  

Model Identification and Motion Control of Hydrostatic Driven Tracked Vehicles

作　　者：陈漫[1] 李岩 马彪[1] 谭赟璐 张存振 王浩东 CHEN Man;LI Yan;MA Biao;TAN Yunlu;ZHANG Cunzhen;WANG Haodong(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;Shanghai Aerospace Equipment Manufacturing Factory Co.,LTD,Shanghai 200240,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]上海航天设备制造总厂有限公司,上海200240

出　　处：《北京理工大学学报》2024年第11期1175-1183,共9页Transactions of Beijing Institute of Technology

基　　金：国家自然科学基金资助项目(51975047)。

摘　　要：为提高静液驱动履带车辆行驶控制的性能,利用理论模型与辨识模型相结合的方法,得到静液驱动系统模型;搭建了以马达转速为输出、车速和相对转向半径为输入的车辆运动学模型;选择基于马达转速调节的控制策略,利用粒子群优化算法得到模糊PID控制器的优化参数以搭建控制器.仿真结果以及车辆空载实验结果表明:算法可以有效地控制车辆完成目标直行、转向等操作,高效实现操作者驾驶意图,与传统PID相比,响应快,超调量小,适应性与实时性强.In order to improve the performance of the track vehicle with hydrostatic drive,a hydrostatic drive system model was designed based on the combination method of the theoretical model with the identification model.Then,a vehicle kinematics model was established,taking motor speed as output,vehicle speed and relat-ive steering radius as input.Selecting a control strategy based on motor speed regulation,and obtaining the op-timization parameters of fuzzy PID controller based on particle swarm optimization algorithm,a controller was build for the hydrostatic driven tracked vehicles.Simulation and vehicle no-load experiment results show that the algorithm can effectively control the vehicle to complete the target direct running,steering and other operations,and efficiently realize the operator's driving intention.Compared with traditional PID,it represents fast response,small overshoot,strong adaptability and real-time performance.

关 键 词：静液驱动 履带车辆 系统辨识 粒子群算法 模糊PID 

分 类 号：TH137.1[机械工程—机械制造及自动化]