摘要
针对履带式车辆中心转向过程两侧履带所受地面负荷不一致,且履带滑转大,导致机电复合传动履带车辆无法准确实现中心转向运动的问题,首先对履带车辆中心转向过程进行了运动学与动力学研究,提出了中心转向角速度修正系数,并给出其计算方法,随后分析了转矩开环控制下履带车辆无法准确实现中心转向的原因,并提出了基于转速差闭环的转矩补偿控制策略,通过MATLAB/Simulink对控制策略进行了仿真分析,通过实车试验对所提出的中心转向控制策略进行验证。结果表明:所建立的中心转向控制策略,能够有效满足履带车辆稳定中心转向的需求。
Tracked vehicles of Electro-Mechanical Transmission(EMT)can’t always realize the pivot steering accurately because the load on both sides of track is not consistent due to the slippage.In order to ensure a stable pivot steering,the kinematics and dynamics of tracked vehicle on pivot steering condition are studied,the steering angular velocity correction coefficient is put forward and its calculation method is given.Then the reason why tracked vehicles can not realize pivot steering accurately under the control of torque open-loop is analyzed,and a torque compensation control strategy based on speed difference closed-loop is proposed.The control strategy is simulated by MATLAB/Simulink,and the proposed pivot steering control strategy is verified using the tracked vehicle with double motor coupling drive transmission.The results show that the pivot steering control strategy established can prove the tracked vehicle steering stable and controllable.
作者
李春明
盖江涛
曾根
袁艺
LI Chun-ming;GAI Jiang-tao;ZENG Gen;YUAN Yi(China North Vehicle Research Institute,Beijing 100072,China;Science and Technology on Vehicle Transmission Laboratory,Beijing 100072,China)
出处
《装甲兵学报》
2022年第1期71-77,共7页
Journal of Armored Forces
基金
国家重点实验室基金项目(61422132000202)
关键词
履带车辆
中心转向
转向角速度修正系数
双侧电机耦合机构
模糊控制
tracked vehicle
pivot steering
steering angular velocity correction coefficient
double motor coupling drive transmission
fuzzy control
