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兵工学报 ›› 2022, Vol. 43 ›› Issue (11): 2727-2737.doi: 10.12382/bgxb.2021.0784

• 论文 • 上一篇    

无人驾驶履带车辆机电联合制动的协调控制

张超朋, 刘庆霄, 董昊天, 陈慧岩, 席军强   

  1. (北京理工大学 机械与车辆学院, 北京 100081)
  • 上线日期:2022-06-23
  • 通讯作者: 席军强(1972—),男,教授,博士生导师 E-mail:xijunqiangi@bit.edu.cn
  • 作者简介:张超朋(1999—), 男, 博士研究生。E-mail: zhangcp_bit@foxmail.com

Coordinated Control of Electric-mechanical Braking System for Unmanned Tracked Vehicles

ZHANG Chaopeng, LIU Qingxiao, DONG Haotian, CHEN Huiyan, XI Junqiang   

  1. (Being Institute of Technology, School of Mechanical Engineering, Beijing 100081, China)
  • Online:2022-06-23

摘要: 针对无人驾驶双侧电驱动履带车辆制动减速控制时抗干扰性能差和机电协调性能差导致目标跟踪误差大的问题,提出一种分层控制系统。在上层控制器中,基于无人驾驶系统的期望速度序列,建立前馈-反馈控制器,以期望制动减速度作为前馈输入,补偿目标制动转矩,以速度误差作为反馈输入,修正目标转矩差。在下层控制器中,综合考虑机械制动和电机制动的特点,建立基于模糊控制的制动力协调分配算法。实车试验结果表明,与速度分段式控制器相比,分层控制器能够准确跟踪期望速度序列,速度跟踪误差减少60.1%,制动减速度标准差减少39.4%,提高了无人驾驶双侧电驱动履带车辆制动控制的目标跟踪精度。

关键词: 双侧电驱动履带车辆, 无人驾驶, 机电联合制动, 协调控制

Abstract: Unmanned dual-motor electric drive tracked vehicles have large braking control tracking errors due to poor coordination performance between mechanical and electric systems. To solve this problem, a hierarchical controller is proposed. In the upper controller, a feedforward-feedback controller is constructed based on the expected deceleration sequence of the unmanned driving system. The expected deceleration is used as the feedforward input to compensate the target braking torque, and the speed error is used as the feedback input to correct the target torque difference. In the lower controller, a braking force distribution algorithm is established based on fuzzy control, which combines the characteristics of mechanical braking and motor braking. The vehicle test shows that compared with the speed segmented controller, the hierarchical controller can accurately track the expected speed sequence with the speed tracking error reduced by 60.1% and the acceleration standard deviation reduced by 39.4%. The target tracking accuracy of the brake control of the unmanned dual-motor electric drive tracked vehicle is improved.

Key words: dual-motorelectricdrivetrackedvehicle, automaticdriving, electric-mechanicalbraking, coordinatedcontrol

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