分布式电驱动履带车辆驱动力协调控制策略研究

以某型分布式电驱动履带车辆为研究对象，为解决多驱动电机输出动力匹配的问题，提出一种分层协调控制策略。建立驱动力分层协调控制结构，将系统分为运动控制层、控制分配层以及防滑控制层；针对车辆主、从结构过驱动的特点，采用基于规则的方法设计主、从电机分配律，采用二次规划法设计轮毂电机优化分配律，并利用加权最小二乘法进行解算，以提高电动负重轮附着裕度，降低电动负重轮与履带轨面间的摩擦耗散能；设计了线性自抗扰防滑控制器，避免电动负重轮过度“滑转”，保证电动负重轮与履带轨面的有效附着。基于Matlab和RecurDyn的联合仿真实验表明，控制分配器能够实现驱动电机群力矩的优化分配，线性自抗扰控制器能够实现复杂路面条件下电动负重轮的防滑控制，提高车辆动力传递的稳定性和效率。

Research on Coordination Control Strategy of Driving force of Distributed Electric Drive Tracked Vehicle

A coordinated hierarchy control strategy of driving torque is proposed for the distributed electric drive tracked vehicle. The coordination control system structure is developed，which is divided into motion control layer, control allocation layer and anti-slip layer. The vehicle is considered to be an unequal over-actuated system. A master-slave multi-motor control allocation law is established. The quadratic programming method is used to design the torque optimization distribution law of in-wheel motors, and the weighted least square (WLS) method is used to solve torque distribution , which could improve adhesion margin and decrease friction loss between motor wheels and track. The anti-slip control law developed by LADRC is used to enhance the adhesive force by restricting the slip of drive wheel. Co-simulation of Matlab and RecurDyn shows that the control allocation could realize torque optimization distribution, and LADRC anti-slip controller could regulate the slip speed in steady margin, which could improve the stability and efficiency of force transfer.