基于模糊控制的越野车差速锁控制策略研究  

Differential lock control strategy of off-road vehicle based on fuzzy control

作　　者：杨浩东 何锐波 徐海军 张聪 罗德意 莫伟忠 刘鹏 YANG Haodong;HE Ruibo;XU Haijun;ZHANG Cong;LUO Deyi;MO Weizhong;LIU Peng

机构地区：[1]广西科技大学机械与汽车工程学院,广西壮族自治区柳州545000 [2]广西汽车集团柳州五菱汽车工业有限公司,广西壮族自治区柳州545000

出　　处：《现代机械》2024年第6期90-95,共6页Modern Machinery

基　　金：广西科技重大专项项目:远程智能遥控工程机械研究及应用(桂科AA22068064);广西重点研发计划项目:智慧矿山无人驾驶工程机械云控平台研究及应用(桂科AB22035066)。

摘　　要：针对现有典型差速锁控制算法(PID控制、逻辑门限控制等)存在的鲁棒性较差、对传感器等硬件精度的依赖程度较大等问题提出了一种基于模糊控制的越野车差速锁控制策略。为解决上述问题设计了一种用于差速锁自动控制系统的模糊控制策略,并移植到一辆1∶8的仿真模型越野车上进行野外测试,测试控制策略在野外斜坡、坑洼草地、沙地、碎石等工况下的鲁棒性、响应速度和车辆的通过性。实验表明,该差速锁模糊控制策略在上述野外工况下具有良好的鲁棒性和响应速度,并且对车辆的滑移率有明显的改善,极大地提高了车辆的通过性。In order to solve the problems of poor robustness and heavy dependence on hardware accuracy of exiting differential lock control algorithms,this paper proposes a differential lock control strategy for off-road vehicles based on fuzzy control.A fuzzy control strategy for the automatic differential lock control system is designed,and transplanted to a 1∶8 simulation model of an off-road vehicle for field testing.The robustness,response speed and vehicle passability of the control strategy under field slopes,potholes,grass,sand,gravel and other working conditions are tested.Experiments show that the differential lock fuzzy control strategy has good robustness and response speed under the above field conditions,and has significantly improved the slip rate of the vehicle,which greatly improves the passability of the vehicle.

关 键 词：车辆通过性 模糊控制 越野车 差速锁 

分 类 号：U461.52[机械工程—车辆工程]