全轮驱动铰接车电子差速控制策略对比分析

Comparative Analysis on Electrical Differential Control Strategy of Articulated Truck with AWD

全轮驱动铰接车转向差速过程中,不同的电子差速控制策略造成各轮的滑移率变化不同,造成的轮胎磨损也有较大差异。通过分析整车动力学模型,联合ADAMS建立整车多体动力学虚拟样机模型和Simulink建立的整车电子差速控制策略模型,并在各轮加入滑移率计算控制模块,分别采用等功率分配、等扭矩分配和滑移率控制等控制策略,进行转向工况仿真,以转向过程中各轮滑移率变化作为对比分析指标。结果表明,滑移率控制能够很好地保证转向过程中各轮滑移率一致,更好地利用地面附着力,达到能量的合理分配,减小轮胎磨损,使整车获得良好差速性能,为此类电子差速控制策略研究提供参考。

In shift differential process of articulated truck with All-Wheel Drive（AWD）,different electronic differential control strategies result in different rounds of the slip rate change,and the tire wear is also quite different. Through analysis of vehicle dynamics model,the control strategy model of the vehicle was established. Joint multi-body dynamics virtual prototype model of the vehicle which was established by ADAMS and electronic differential control strategy of the vehicle was established by Simulink,and slip ratio calculation control module was added in each wheel. Contrasting the operating results with different electronic differential control strategies such as power distribution,torque distribution and slip rate was consistent with steering conditions. The results show that the strategy of electric wheel vehicle based on slip rate consistent can guarantee each wheel slip rate consistent better than the others,better use of ground adhesion,to achieve a reasonable distribution of energy,reducing tire wear,making the vehicle to get a good differential performance.