多轴机电复合分布式驱动车辆转向半径模式控制策略

Control Strategy of the Multi-Axle Distributed Mechanic and Electric Drive Vehicle's Turning Radius

基于对多轴轮式车辆的最小转向半径战技指标的要求,提出了一种适用于多轴机电复合分布式驱动车辆的最小转向半径控制系统,并详细介绍了该模式下的整车控制策略,当车辆以大前轮转角低速转向时,后两桥驱动电机产生"外正内负"的力矩辅助车辆转向从而减小最小转向半径.为验证系统性能,文中建立了包含车体纵向速度、侧向速度、横摆角速度及8个车轮旋转的11自由度整车动力学模型,并采用Gim轮胎模型表达了轮胎的非线性力学特性.虚拟样机仿真的结果表明,在该控制策略下,车辆的最小转向半径可减小10.31%,转向机动性能得到大幅度提高.

With the increasing requirements from modern battlefield environment,the demands of multi-axle wheeled vehicles＇ minimum turning radial tactical and technical index are getting higher.A control system of minimum turning radius was presented which was fit for the multiaxle distributed mechanic and electric drive vehicle,and the vehicle control strategy under this mode was introduced detailed.When the vehicle turned with a big steering angle at a low speed,the last two axles produced torque,which could be described as ＂the outer one is plus and the inner one is minus＂,to assist the vehicle to turn,and then decrease the minimum turning radius.At last,in order to validate the performance of system,a vehicle dynamic model with 11 degrees was built,which included the longitudinal speed,the lateral speed,the yaw rate and the rotation of eight wheels.The Gim tire mode was used to describe the tires＇ nonlinear mechanics features.The simulation result shows that the vehicle＇s minimum turning radius can be decreased 10.31% under the strategy,increasing its motility greatly.