高速电驱动履带车辆紧急制动控制策略

为了改善高速双侧电机驱动履带车辆在履带-地面接触条件较差时紧急制动的操控性能并减少制动距离，通过对履带车辆直线行驶动力学和其机械制动器、永磁同步电机及液力缓速器等制动执行机构进行动力学建模分析，提出基于滑模鲁棒控制、制动扭矩预分配规则和前馈补偿控制的机电液联合紧急制动防抱死控制策略. 以配备有DS2680 IO板卡和DS2671总线板卡的dSPACE SCALEXIO实时主机为核心搭建驾驶员输入在环的半实物在环，并针对高速双侧电机驱动履带车辆在雪地上以初速度为80 km/h进行紧急制动的工况，进行实时仿真和驾驶员在环试验. 仿真和试验结果表明：相对于常规履带车辆紧急制动控制方法，提出的策略能够更有效地将车辆滑移率保持在合理范围内，更好地利用地面附着力，并缩短了制动距离.

Emergency braking control strategy for high speed electric drive tracked vehicle

A comprehensive combined anti-lock braking strategy was proposed, in order to improve the braking performance of high speed electric drive tracked vehicles and reduce the stopping distance when braking on low adhesion grounds. This strategy consisted of a slip ratio controller which was based on robust sliding mode control, a rule-based braking torque pre-allocating method and a feedforward compensating algorithm. The strategy was designed according to modelling and analysis of the dynamics of high speed electric drive tracked vehicles, track-ground conditions as well as their braking actuators which were the mechanical brakes, permanent magnet synchronous motors and the hydraulic retarders. A semi-physical-in-loop (SPIL) test system, which consisted of a driver input subsystem, a test managing subsystem and a real-time simulating subsystem, was established based on a dSPACE SCALEXIO real-time host machine equipped with DS2680 IO board and DS2671 Bus board. Several real-time simulations and HIL tests, which included real driver inputs in the loop, were conducted under the situation of braking on snow from an initial velocity of 80 km/h. The simulation and test results show that, compared with traditional methods, this strategy can make better use of ground adhesion, keep the slip ratio stays in desired region more efficiently and reduce the stopping distance.