双桥独立驱动铰接车辆牵引力控制策略研究

Study On Traction Control Strategy of Two-Bridge Independent Drive Articulated Vehicles

为了满足我国自主研制井下辅助运输车辆的需要,依据铰接式特种车辆的结构特征,建立了整车七自由度动力学模型。针对双桥独立电驱动铰接车辆,以滑模控制的驱动防滑控制算法为基础,提出了双桥独立电驱动铰接车辆的驱动防滑控制策略。对所研究的控制策略在MatLab-simulink环境下进行了数值仿真验证,并且与直接使用前、后桥驱动电机输出等比例驱动转矩方式进行了比较。结果表明:转速差控制策略能够将车辆各轮胎的滑转率控制在期望值附近,避免了车轮打滑的发生,有效提升了车辆系统的驱动性能,为我国井下车辆关键技术的发展提供了理论储备和技术支持。

In order to meet the needs of China’s independent development of underground auxiliary transportation vehicles,a seven-degree-of-freedom dynamic model of the vehicle was established based on the structural characteristics of the articulated special vehicle.Aiming at the double-bridge independent electric drive articulated vehicle,based on the sliding-mode control driving anti-skid control algorithm,the driving anti-skid control strategy of the double-bridge independent electric drive articulated vehicle is proposed.The control strategy studied was verified by numerical simulation in Matlab/Simulink environment,and compared with the direct drive front and rear axle drive motor output.The results show that the speed difference control strategy can control the slip rate of each tire in the vicinity of the expected value,avoiding the occurrence of wheel slip,effectively improving the driving performance of the vehicle system.The paper also provides the theoretical foundations and techniques to support development of key technologies in vehicles used under the shaft in China.