电传动履带车辆双侧驱动转矩调节控制策略

Torque-regulating Control Strategy of Electric Tracked Vehicle Driven by Dual-motor

为降低电传动履带车辆双侧驱动转速调节控制策略中电动机控制任务量与难度,提出转矩调节控制策略。结合双侧电机驱动电传动履带车辆动力学特征,分析转矩调节控制策略的理论基础和可行性。把加速踏板、制动踏板以及方向盘操作映射为控制变量γ和ξ,结合驱动电机转速—转矩特性设计转矩调节控制策略。在Simulink/Stateflow环境中建立包括驾驶员输入模块、转矩调节控制策略模块、电机及控制器模块以及车辆动力学模块的整车驱动系统模型。不同路面上多工况仿真和实车行驶试验验证了转矩调节控制策略可行性和有效性。该控制策略已在车辆上成功应用。

To reduce control task and difficulty of dual-motor drive for speed-regulating control strategy of tracked vehicle,torque-regulating control strategy was proposed.Theoretical fundamentals and feasibility of torque-regulating control strategy were analyzed based on the dynamical characteristic of tracked vehicle driven by dual-motor.Signals of acceleration pedal,braking pedal and steering angle were mapped to control variables γ and ξ.Torque-regulating control strategy was designed based on motor＇s speed-torque characteristic.The model of tracked vehicle driven by dual-motor was established in Simulink/Stateflow environment,which is composed of the modules for input of driver,torque-regulating control strategy,motor and controller,and vehicle dynamics.The feasibility and effectiveness of torque-regulating control strategy were proved by results simulated in different road surfaces and working conditions and obtained in field experiment.Torque-regulating control strategy is applied to the vehicle successfully.