双电机驱动履带车辆直驶稳定性分层控制策略

doi:10.13229/j.cnki.jdxbgxb.20211358

摘要/Abstract

摘要：

针对双电机独立驱动履带车辆直线行驶车速往往会由于路面结构、参数的剧烈变化而失去稳定性，以及车辆两侧行驶阻力不同也会造成驱动电机转速不同而出现车辆偏驶现象的问题，提出了一种车辆直线行驶整车分层控制策略，上层控制车辆直线行驶车速稳定性，下层控制双侧电机转速同步，提高车辆直线行驶车速抗干扰性的同时减少行驶偏移量。围绕外界行驶阻力扰动问题，设计了Luenberger阻力观测器，并将其观测值反馈到上层积分滑模车速控制器中，以提高车速抗干扰性；下层控制器采用交叉耦合同步控制，补偿两侧电机输出转矩，以提高两侧电机的同步性。最后，通过RecurDyn+Matlab/Simulink联合仿真验证了本文控制策略的有效性。

关键词: 车辆工程, 电驱动履带车辆, Luenberger观测器, 积分滑模控制, 交叉耦合控制

Abstract:

The straight-line driving speed of tracked vehicles driven by dual motors will often lose stability due to the drastic changes of road structure and parameters. At the same time， the different driving resistance on both sides of the vehicle will also lead to different driving motor speeds and vehicle deviation. In view of the above problems， a layered control strategy for vehicle straight-line driving is proposed. The upper layer controls the stability of vehicle straight-line driving speed， and the lower layer controls the speed synchronization of bilateral motors， so as to improve the anti-interference of vehicle straight-line driving speed and reduce the driving offset. Around the problem of external driving resistance disturbance， a Luenberger resistance observer is designed， and its observation value is fed back to the upper integral sliding mode speed controller to improve the anti-interference of vehicle speed； The lower controller adopts cross coupling synchronous control to compensate the output torque of motors on both sides， so as to improve the synchronization of motors on both sides. Finally， RecurDyn + Matlab / Simulink is used for joint simulation to verify the effectiveness of the control strategy proposed in this paper.

Key words: vehicle engineering, electrically driven tracked vehicle, Luenberger observer, integral sliding mode control, synchronous control

中图分类号:

U469.694

陈兵,马凯璇,刘洋,任江,张晨曦,赵韬硕. 双电机驱动履带车辆直驶稳定性分层控制策略[J]. 吉林大学学报(工学版), 2023, 53(10): 2752-2760.

Bing CHEN,Kai-xuan MA,Yang LIU,Jiang REN,Chen-xi ZHANG,Tao-shuo ZHAO. Straight driving stability hierarchical control for dual-motor driving electric tracked vehicle[J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(10): 2752-2760.

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符号	含义	数值	单位
m	车辆质量	8000	kg
r	主动轮半径	0.21	m
P	电机额定功率	100	kW
N	电机额定转速	3200	r/min
T	电机额定转矩	300	N·m
T_max	电机最大转矩	600	N·m
i	传动比	10	-

时间/s	车速/（km·h^-1）	地面形貌	地面坡度/（°）
0~1	0	沥青路面	0
1~3	10	沥青路面	0
3~7	10	沥青路面	15
7~10	10	沥青路面	0
10~13	20	沥青路面	0
13~23	20	砂石路面	0
23~30	20	沥青路面	0
30~40	30	沥青路面	0
40~50	50	沥青路面	0