履带式作业车行走牵引电机变速分层控制  

Variable speed layered control of traction motor for tracked work vehicles

作　　者：王凯 付志强 郝德翼 董浩 WANG Kai;FU Zhiqiang;HAO Deyi;DONG Hao(State Grid New Source Group Co.,Ltd.,Taian 271000,China;Shandong Taishan Pumped Storage Co.,Ltd.,Taian 271000,China)

机构地区：[1]国网新源集团有限公司,山东泰安271000 [2]山东泰山抽水蓄能有限公司,山东泰安271000

出　　处：《电子设计工程》2025年第6期48-52,共5页Electronic Design Engineering

基　　金：国网新源集团有限公司科技项目资助(SGXYKJ-2022-134)。

摘　　要：履带式作业车行走牵引电机速度与牵引力需求的匹配错位,导致实际作业中左、右轮速率控制出现偏差。为此,提出基于需求分析的牵引电机变速分层控制方法。根据履带和地面空间位置关系,计算每条履带切向牵引力,将车的行走阻力和不确定纵向电阻等效为左、右两侧驱动电机输出矩阵。依据行走速度与牵引力需求关系,结合滑模控制原理,构建积分滑模行走牵引电机上、下层速度控制器,得到左、右两侧变速分层控制指令,实现电机变速分层控制。由实验结果可知,该方法在遇到不平坦路面及左拐时,能够精准控制先、后走到该路面的左、右轮速率,与实际作业要求速率一致。The mismatch between the speed of the walking traction motor and the traction force demand of the tracked work vehicle can easily lead to deviation in the speed control of the left and right wheels during actual operation.Therefore,a demand analysis based hierarchical control method for variable speed of traction motors is proposed.Based on the spatial relationship between the tracks and the ground,calculate the tangential traction force of each track,and equivalent the walking resistance and uncertain longitudinal resistance of the vehicle to the output matrix of the left and right driving motors.Based on the relationship between walking speed and traction demand,combined with the principle of sliding mode control,an integral sliding mode walking traction motor upper and lower speed controller is constructed,and the left and right side variable speed layered control commands are obtained to achieve motor variable speed layered control.According to the experimental results,this method can accurately control the left and right wheel speeds when encountering uneven road surfaces and left turns,which are consistent with the actual operation requirements.

关 键 词：牵引电机速度 牵引力需求 变速分层控制 左、右两侧轮 滑模控制 

分 类 号：TN95[电子电信—信号与信息处理]