摘要
为避免全轮驱动铰接车转向失稳和车轮打滑时驱动力降低的问题,提出一种满足铰接车运动特性的分层控制策略。该策略考虑驾驶员实际可操纵输入指令,上层控制基于2-DOF参考模型计算铰接车稳定行驶的期望横摆角速度和质心侧偏角,并通过PID控制器计算其稳定行驶所需的附加横摆力矩;下层控制通过改进基于滑移率的驱动力控制方法,提出满足总驱动力和附加横摆力矩的转矩分配控制策略,保证了铰接车稳定转向的同时具有足够的驱动能力。最后通过搭建的整车7-DOF动力学模型,通过MATLAB/Simulink仿真实验,将所提出分层控制策略与等转矩控制进行对比,验证了所提出的分层结构设计的铰接车稳定转向控制策略的有效性,能够提高铰接车转向行驶稳定性,降低能耗。
In order to avoid the problems of steering instability and the decrease of driving force when the wheels slip of all-wheel drive articulated vehicle, a layered control strategy was proposed to meet the movement characteristics of articulated vehicles. The strategy considers the actual driver′ s maneuverable input command. The upper control calculated the desired yaw rate and center of mass yaw angle of the articulated vehicle for stable driving based on 2-DOF reference model, and calculates the additional yaw moment required for stable driving by PID controller;the lower control proposes the moment distribution control strategy which satisfies the total driving force and additional yaw moment by improving the driving force control method based on slip rate, which ensures the stable steering of articulated vehicles and sufficient driving capacity. Finally, through the built 7-DOF dynamic model of the whole vehicle, the MATLAB/Simulink simulation experiment was carried out to compare the proposed hierarchical control strategy and the equal torque control, verifies the effectiveness of the proposed hierarchical structure design of the articulated vehicle stable steering control strategy, which can improve the steering stability of the articulated vehicle and reduce the energy consumption.
作者
李婷婷
杨世文
武仲斌
Li Tingting;Yang Shiwen;Wu Zhongbin(School of Energy and Power Engineering,North University of China;Taiyuan University of Technology,Taiyuan 030024,China)
出处
《煤矿机械》
2021年第10期66-69,共4页
Coal Mine Machinery
关键词
全轮驱动铰接车
动力学模型
转向稳定性
改进驱动防滑控制
转矩分配
all-wheel drive articulated vehicle
dynamic model
steering stability
improved drive anti-slip control
torque distribution
