摘要
针对双电机耦合驱动履带车辆转向动力学模型具有多输入多输出(MIMO)、非线性且参数不确定的特点,对系统进行解耦,分解为车速控制系统和转向角速度控制系统。在车速控制系统中为实现车速跟踪误差的收敛,根据期望车速与当前速度信息,提出了鲁棒滑模变结构控制算法;在转向角速度控制系统中,提出了针对转向角速度的模糊滑模自适应控制算法。通过"驾驶员—控制器"在环的双电机耦合驱动履带车辆实时仿真系统,对控制算法进行了仿真实验验证,证明了该控制算法的有效性。
Steering dynamic model of double motor coupling drive transmission for tracked vehicle has the features of MIMO, parameter-uncertainty and nonlinearity. The steering system is transformed into a for- ward speed control subsystem and a steering speed control subsystem by dynamic decoupling control algo- rithm. For the forward speed control subsystem, a robustness sliding mode control algorithm is proposed to converge the speed errors based on the desired speed and the current speed. For the steering speed con- trol subsystem, a steering speed control algorithm is designed based on the fuzzy adaptive sliding-mode al- gorithm to ensure the tracking control of the reference steering speed. The steering tracking control is ver- ified by real-time simulation system. The results show that the proposed control algorithm is effective.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2015年第3期405-411,共7页
Acta Armamentarii
基金
国防科技工业局基础产品创新科研项目(VTDP-3102)
关键词
兵器科学与技术
履带车辆
转向
解耦控制
滑模变结构
ordnance science and technology
tracked vehicle
steering
decoupling control
sliding mode variable structure
