履带车辆电传动转向性能半实物仿真分析

Semi-physical Simulation Analysis of Steering Performance of Electric Vehicles

针对双电机耦合驱动的履带车辆,提出了基于模型参考的自适应转向控制方法,实现车辆转向的动态补偿控制,建立了转向性能仿真模型,构建了转向性能半实物仿真平台,在柏油路和农村松软路两种路面下,进行车辆转向性能半实物仿真.结果表明,双电机耦合驱动的履带车辆相对转向半径误差较小,转向稳定性好.

Based on double side motors coupling drive transmission for tracked vehicles,the selfadaptive steering control method based on model reference has been put forward. This reached dynamic compensated control. Simultaneously,simulation model of steering performance is proposed,and semiphysical simulation platform for steering performance is established. The result of semi-physical simulation under blacktop and country road indicated that the relative steering radius error of double side motor coupling driven vehicle is very small,the steering stability of the vehicle is improved,which provides a reference to put forward steering control strategy for double side motor coupling driven vehicle.