零差速电传履带车辆整车行驶控制策略研究

针对履带车辆电传动研究和采用较多的零差速电传动方案，对电传动履带车辆的整车行驶控制策略进行了研究，提出了系统控制方案并做了具体的分析。基于电传动与传统传动装置本质上的不同和驾驶操纵的人机适应性，对驾驶信号的定义进行了定性和定量的分析。对驱动电机及其协同控制，提出了直驶电机采用基于有限功率的直接转矩控制、转向电机采用直接转矩控制（小半径转向）和电流矢量控制（大半径转向）双模控制的系统控制方法；并对具体的控制途径进行了描述。最后，基于在Matlab/Simulink下建立的整车行驶系统仿真模型，对车辆加速和转向的动态过程进行了仿真，仿真结果袁明，该控制方案可行并可以使车辆具有良好的加速性能和转向性能。

System Control Scheme for Single Motor Crossdrive Electric Transmission Tracked Vehicles

A systematic control scheme for single motor crossdrive electric transmission tracked vehicles has been developed, and the analysis of the scheme was concretely described. Based on the difference of functions between electric transmission vehicular manipulators and traditional manipulators, the definition of manipulatlve signal was analyzed qualitatively and quantitatively with the consideration of man-machine harmony. Then, the strategies and its details for propulsive motor control, steering motor control and their concurrent control were given. At last, the accelerating and steering process of an electric tracked vehicle controlled by proposed control scheme was simulated. The simulating results reveal that the control scheme is feasible and it could make the vehicle have excellent accelerating and steering capability.