电传动推土机双侧驱动转速控制策略

Control Strategy of Electric Drive Bulldozer’s Dual-Motor Drive System

为了解决双电机独立驱动的电传动履带推土机的直线行驶和转向的控制问题,提出了基于转速调节的控制策略,该控制策略将驾驶员输入信号解释为电机的目标转速,控制量为两侧电机的目标转速。首先建立了电机驱动系统数学模型和整车动力系统的数学模型,然后基于Matlab/Stateflow建立了控制策略,接着利用Matlab/Simulink建立了包括推土机输入模块、控制策略模块、电机驱动系统模块、整车动力学模块的双电机独立驱动系统的仿真平台。最后在仿真平台和试验台架上进行了验证。实验结果表明:基于转速调节的控制策略是一种有效的控制策略。

In order to solve the problem of straight running and steer,the control strategy based on speed regulation was proposed.The input signals were explained as the target speed of the motor in the control strategy,the control parameter was the target speed of the both sides of the motor.Firstly,the motor drive system model and dynamic mathematic model of the vehicle were established;Secondly,the control strategy was established based on Matlab/Stateflow;Then,the simulation platform of dual-motor drive system was established based on Matlab/Simulink,which was composed of the driver model,the control strategy model,motor drive system model and the vehicle dynamics model.Finally,the control strategy was validated.The experimental results show that the proposed method was effective.