双电机独立驱动履带车辆转向特性研究

Research on Steering Characteristics of Dual-Motor Driving Electric Tracked Vehicle

研究电传动履带车辆在不同转向工况下对驱动电机输出特性需求问题,针对目前常用的双电机独立驱动模式,车辆直驶和转向行驶均通过两侧电机转速/转矩的变化来实现,为有效的控制两侧电机完成预期转向,提高转向稳定性,首先采用运动学和动力学方法对车辆瞬态转向进行了分析,借助动力学分析软件RecurDyn/Track-HM和控制系统分析软件Matlab/Simulink仿真平台,建立了整车多体动力学模型和控制系统模型,然后对车辆转向特性进行了多工况协同仿真分析。结果表明,不同转向工况对驱动电机输出特性需求不同,瞬态转向受转向角速度变化率影响较大,稳态转向主要取决于转向半径大小,为制定合理的控制策略提供了依据。

For the commonly used dual-motor drive mode, we need to change the motors speed/torque to complete straight driving and steering of the vehicle. In order to effectively control the motors and improve the steering stability, this paper first analyzed the kinematics and dynamics characteristics of the vehicle under dynamic steering conditions. The multi-body dynamics model of the whole vehicle and control system model were built based on the simulation platforms on dynamics analysis software known as RecurDyn/Track-HM and control system analysis soft- ware known as Matlab/Simulink. Then collaborative simulation on steering characteristics under different steering conditions was carried out. The results are as follows ： the required output characteristics of the motors are mainly in- fluenced by the steering angular acceleration of the vehicle under dynamic steering condition, while under steadystate steering condition mainly depend on turning radius. This provides a basis for formulating reasonable control strategy.