履带车辆电驱动系统协同仿真与控制策略研究

Collaborative Simulation and Control Strategy of Tracked Vehicle's Electric Drive System

为了准确分析电传动履带车辆的驱动特性,建立了基于多体动力学软件RecurDyn/Track-HM的履带车辆整车行走系统的三维多体动力学虚拟样机模型,利用RecurDyn/Track-HM和控制系统软件Matlab/Simulink的接口技术建立了协同仿真模型。对驾驶员操纵信号进行了全新定义,并在此基础上提出并在综合控制器中用标准IEC61131-3功能块图程序语言实现了转矩控制策略。通过对0～32km/h的加速时间、最高车速以及转向特性等驱动特性的协同仿真和实车试验结果的分析和比较,从而验证了仿真模型及转矩控制策略的正确性。第一台电传动履带车辆原理样车的成功研制为进一步深入研究其它驱动特性提供了移动式试验平台,对提高国内电传动研究水平具有重要指导意义。

In order to analyse the driving performances of the electric drive tracked vehicle exactly, a 3 - D multi - body dynamics virtual prototyping model of tracked vehicle running gear is built based on the multi - body dynamics analysis software known as RecurDyn/Track - HM, and a collaborative simulation model based on interface technology between RecurDyn/Track - HM and control system analysis software Matlab/Simulink is also built. The driver＇s control signals are redefined, the torque control strategy is put forward and realized by standard IEC61131 - 3 Function Block Diagram （FBD） programming languages in integrative controller. The correctness of the simulation model and torque control strategy are validated by comparing the collaborative simulation result with vehicle test result about driving performances such as the acceleration time （0 - 32km/h）, maximum velocity and steering characteristic. The first prototype of the electric drive tracked vehicle is developed successfully, which provides a moveable test platform for other driving performances＇ research profoundly, and also is of instructional significance to electric drive research at home.