摘要
分析了双侧电传动履带车辆的小半径转向理论,研究了在给定两侧电机力矩的情况下的转向特性,结果表明原地起步小半径转向工况可以分为三个阶段,第一阶段为固定转向半径的加速转向,第二阶段降半径转向,第三阶段为固定转向半径的匀速转向;有初速的小半径转向工况在转向初期转向半径从无穷大迅速降低并达到稳定值,之后的变化特性便与原地起步转向完全相同。在理论分析的基础上,设计了小半径转向控制策略,在MATLAB/Simulink中进行了转向动力学仿真,表明转向控制策略有效。
Small radius steering theory of dual-motor drive tracked vehicle was analyzed to get the relationship between the turning radius and the force on each side track.Results illuminate that when torques of both motor are fixed,small radius steering without a muzzle velocity comprise three stages,in the first stage the radius is stable but the velocity and the turning rate are speeding up,in the second stage the radius is falling,in the third stage both the radius and the velocity are stable.Simulation also shows that the only difference between the steer with and without muzzle speed is the first part after the steering beginning.Based on theory analysis,a control strategy was designed and simulations were made in MATLAB/Simulink.Results of the simulation show that control strategy is valid.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2010年第13期1632-1637,共6页
China Mechanical Engineering
关键词
履带车辆
双侧电传动
控制策略
小半径转向
仿真
tracked vehicle
dual electric transmission
control strategy
small radius steering
simulation
