履带车辆双电机耦合驱动系统同步特性

Synchronization Characteristics of Dual-motor Coupled Driving System of Tracked Vehicle

为提高双电机耦合驱动履带车辆直驶稳定性,从机械及控制两个方面对驱动系统输出同步问题进行研究。对驱动系统中的耦合机构负载均衡原理进行分析,得出耦合机构可以使其两个输出端的负载差传递到两个输入端后降低60%~80%.通过深入分析双电机耦合驱动系统同步运行的影响因素,提出基于模糊PID的偏差耦合同步控制策略,对两侧电机控制误差存在差异及驱动系统输出端存在不平衡负载状态下,有、无同步控制的情况进行仿真对比,并进行基于实车平台的双电机耦合驱动系统同步性能试验。仿真及试验结果表明,利用机械、控制相结合的方法很好地解决了双电机耦合驱动履带车辆直驶同步的难题。

The synchronization characteristics of dual-motor coupled driving system was researched to improve the straight driving stability of tracked vehicle.The load balancing principle of power coupling mechanism of the driving system was analyzed.It is concluded that the power coupling mechanism can reduce the load difference between the two output terminals by 60%-80%when it was transferred to the two input terminals.According to the analysis results of the factors affecting the synchronization characteristics of the dual motor coupled driving system,a relative coupling synchronization control strategy based on fuzzy PID was proposed.The simulations with and without synchronization control were carried out when there was difference in the control errors between the two motors or there were unbalanced loads at the output terminals of the driving system.The simulated and test results show that the synchronization problem of the driving system is solved by combination of mechanical and control methods.