摘要
针对电传动履带车采用的差速电传动方案,对电传动履带车辆的整车行驶控制策略进行了研究,提出了基于模糊建模的差速控制方案。基于CAN总线技术与整车动力学模型,对整车控制器进行了定性和定量的分析,CAN总线实现与电机控制器的信息交互,构建设计了基于CAN总线的分布式控制系统,有效地优化了系统控制体系结构,提高了系统的控制性能和可靠性。对驱动电机采用了电流矢量控制控制方法;并对具体的控制途径进行了描述。最后,对车辆转速的动态过程进行了试验。结果表明,该控制方案可行并可以使车辆具有良好的转速性能。
A differential control scheme for electric transmission tracked vehicles has been developed based on fuzzy modeling, and the analysis of the scheme is concretely described. Based on the CAN bus technique and the vehicle dynamic model, the vehicle controller is analyzed qualitatively and quantitatively, and the distributed control for the vehicle electric transmission is realized, which effectively optimizes the system control architecture and improves the performance and reliability of the control system. Then, the strategies for the drive motor control are given. At last, the steering process of an electric tracked vehicle controlled by the proposed control scheme is tested. The experiment results reveal that the control scheme is feasible and it could make the vehicle have excellent steering capability.
出处
《控制工程》
CSCD
北大核心
2016年第10期1515-1518,共4页
Control Engineering of China
基金
国家自然科学基金(51275085)
沈阳市科技基金(F16-226-6-00)
关键词
差速控制
模糊建模
矢量控制
支持度
模糊规则
Differential control
fuzzy modeling
vector control
degree of support
fuzzy rule
