电传动履带车辆电子差速转向控制策略

Steering Control Strategy of Electronic Differential Speed in Electric Drive Tracked Vehicle

提出一种电传动履带车辆电子差速转向控制策略.构建了双感应电机驱动履带车辆电子差速控制系统;通过履带车辆运动学和动力学分析,提出基于无功功率感应电机模型参考自适应控制(MRAC)的电子差速转向控制策略;建立了感应电机间接磁场定向(IFOC)转速控制系统,设计了基于无功功率的感应电机MRAC控制模型,并进行了Popov超稳定性判稳分析.采用该策略进行了实车试验,不同速差行驶转向的结果表明,该策略可使车辆获得良好的差速转向性能.

A steering control strategy of electronic differential speed for electric drive tracked vehicles is proposed. A control system of electronic differential speed for tracked vehicle with dual induction motors drive is established. According to the kinematics and dynamics of vehicles, a steering control strategy of electronic differential speed based on reactive power model reference adaptive control（MRAC）of induction motor is proposed. A speed control scheme of indirect field oriented control（IFOC）of induction motor is developed. A control model of MRAC based on reactive power is designed, and stability of the model is analyzed by Popov＇s hyperstability. Experiments with the strategy in running steering with different speeds were carried out. Experimental results indicated that the strategy led to fine steering performances.