Journal of Jilin University(Engineering and Technology Edition) ›› 2023, Vol. 53 ›› Issue (10): 2752-2760.doi: 10.13229/j.cnki.jdxbgxb.20211358

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Straight driving stability hierarchical control for dual-motor driving electric tracked vehicle

Bing CHEN1(),Kai-xuan MA1,Yang LIU1,Jiang REN1,Chen-xi ZHANG2,Tao-shuo ZHAO2   

  1. 1.School of Mechanical Engineering，University of Science and Technology Beijing，Beijing 100083，China
    2.China North Vehicle Research Institute，Beijing 100072，China
  • Received:2021-12-21 Online:2023-10-01 Published:2023-12-13

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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

CLC Number: 

  • U469.694

Fig.1

System structure diagram of bilateral independentelectric tracked vehicle"

Fig.2

Schematic diagram of tracked vehicle driving dynamics"

Fig.3

Torque compensation control block diagram"

Fig.4

Dynamic simulation model of electric drive trackedvehicle"

Fig.5

Dynamic simulation model of electric drive trackedvehicle"

Table 1

Basic parameters of vehicle and driving motors"

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

Table 2

Simulation condition table"

时间/s车速/（km·h-1）地面形貌地面坡度/（°）
0~10沥青路面0
1~310沥青路面0
3~710沥青路面15
7~1010沥青路面0
10~1320沥青路面0
13~2320砂石路面0
23~3020沥青路面0
30~4030沥青路面0
40~5050沥青路面0

Fig.6

Simulation results of Luenberger ISMC lineardriving control strategy"

Fig.7

Luenberger observed values"

Fig.8

Synchronous control of speed simulation values"

Fig. 9

Synchronous control compensates for torquesimulation values"

Fig. 10

Effect of load changes on both sides on speed ofvehicle"

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