电传动履带车辆转向自适应控制策略仿真分析

针对电传动驱动履带车辆,提出了一种适应于转向阻力变化的转向控制策略.通过对转向动力学模型进行等效线性转换,推导了应用模型参考自适应控制基本原理的系统控制结构,设计了能够有效调节电机驱动扭矩的自适应控制策略.建立了基于转向自适应控制策略的履带车辆仿真模型,进行了6种给定转向工况的仿真.结果说明,在应用自适应控制后,当地面转向阻力变化时,履带车辆能够获得期望的转向角速度响应.自适应控制策略保持车辆转向稳定性的控制能力良好,且简化了驾驶员操纵,降低了电机控制难度.

Self-adaptive Steering Control of Electric Drive for Tracked Vehicles

A steering control strategy has been put forward to tracked vehicles propelled by electric transmission,which could adapt to variable steering resistances.By the method of equivalent linearization of steering dynamic model,the system control structure was derived and the corresponding self-adaptive control strategy was designed on the basis of Model Reference Adaptive Control Theory.This strategy could be used to effectively adjust the motors’driving torques.A tracked vehicle dynamic scheme based on self-adaptive steering control strategy was constructed,which was then simulated under 6 steering process.It was proved that the application of self-adaptive control strategy could enable the vehicle to achieve the desired response of steering angular speed.Self-adaptive control strategy could ensure great steering stability,simplify the driver’s control,and reduce the control difficulty of electric motors.