双侧电机耦合驱动履带车辆单侧电机故障模式下车辆安全控制

Vehicle Safety Control of Tracked Vehicle Driven by Two-sided Motor Coupling under the Failure Mode of One-sided Motor

双侧电机耦合驱动履带车辆单侧电机发生故障如果不及时采取措施,极易导致车辆偏驶,甚至出现安全问题。为了保证单侧电机故障模式下的车辆安全,开展单侧电机故障模式下车辆制动避障安全控制研究。基于实车采取的一侧发生故障、另一侧及时处于故障模式的控制方式进行车辆安全性分析,提出一种双侧电机耦合驱动履带车辆单侧电机故障模式下车辆安全控制策略并通过RT-LAB半实物实时仿真验证。研究结果表明:该控制策略能够按照驾驶员意图,在单侧电机故障模式下实现不同车速下车辆不同相对转向半径的转向控制,而且面对连续的避障需求,可以稳定转向,保证履带车辆的安全。

The deviation and even safety problems of vehicle are easily caused if the unilateral motor of the tracked vehicle driven by two-sided motor fails.The safety control of vehicle braking and obstacle avoidance in the failure mode of unilateral motor is studied to ensure the safety of vehicles.The vehicle safety is analyzed based on the control mode that one side of the real vehicle fails and the other side is in the failure mode in time.Therefore,an obstacle avoidance control strategy in the braking process is added based on the current control mode.A vehicle safety control strategy of tracked vehicle driven by double-side motor coupling in the mode of single-side motor failure is presenred,and it is verified by RT-LAB hardware-in-the-loop real-time simulation.The results show that this control strategy can be used to realize the steering control of vehicles with different relative steering radii at different speeds in the mode of single-side motor failure according to the driver's intention,and it can stabilize the steering and ensure the safety of tracked vehicle in the face of continuous obstacle avoidance requirements.