静液传动高速履带车辆转向参数匹配与控制

为了解决静液传动履带车辆转向时外侧系统压力容易过高以及转向轨迹控制问题,基于双侧轮边液压驱动结构特点,提出了外侧马达采用压力、发动机转速双参数控制,内侧跟随外侧采用速度闭环控制的转向控制策略,对目标相对转向半径与方向盘转角、车速,马达排量与发动机转速、系统压力等参数进行了匹配。建立了整车转向仿真模型与实车实验系统。仿真与实验结果表明,控制策略能有效控制系统压力,参数匹配结果能满足转向控制要求,车辆按照目标相对转向半径实现了准确快速转向。

Control and matching of steering parameters for high-speed tracked vehicle with hydrostatic drive

In order to deal with the problem that the tracked vehicle with hydraulic drive steers the pressure of the outer hydraulic system may become too high and the problem of the steering trajectory control,a new steering control strategy was proposed.In the proposed strategy the outer side hydromotor displacement uses dual-parameter control by hydraulic pressure and engine speed,while the inner side uses speed closed-loop control to follow the outer side.The targeted relative steering radius,the turning angle of steering wheel,vehicle speed,hydraulic displacement,engine speed,and hydraulic system pressure were matched.A simulation model was built for the whole vehicle steering,and a test system was established for the real vehicle.The results of simulation and field test showed,the proposed control strategy can control effectively the hydraulic system pressure,the parameter match can meet the requirements of steering control,to realize the accurate and rapid steering of the vehicle according to the targeted relative steering radius.