履带车辆试验台建模与控制方法

Test Bed Modeling and Control Method for Track Vehicle

基于实际路面工况与试验台结构建立了以主动轮受力为输入、主动轮角加速度为输出的履带车辆动力学模型,推导了履带车辆整车等效到主动轮惯量;辨识了试验台系统传递函数,提出了速度跟踪结合单边速度闭环扭矩双边加载的控制方法实现负载模拟。设计此控制方法的台架系统试验结果表明在换挡、爬坡过程中车辆速度无跳动或较大波动,输出扭矩变化符合实际路面工况,并有较高的负载模拟精度;证明了此控制方法在履带车辆台架试验负载模拟中的有效性和精确性。

Taking the driving wheel force as input and driving wheel angular acceleration as output, the kinemics model of track vehicle was built and the whole vehicle was equaled to wheel inertia based on actual pavement condition and test platform structure. Transmission function of test bed was recognized. The strategy of speed track, combined with single side speed closed-loop and both sides loaded control, was proposed. Test results showed that there was no abrupt change in speed during shift and slope process. The change of output torque was accord with actual road situation. The proposed method was proved to be valid and precisions in vehicle test.