高速电驱动履带车辆操纵特性分析

doi:10.12382/bgxb.2022.0764

摘要/Abstract

摘要：

为了奠定高速电驱动履带车辆的操纵稳定性评价及控制的基础,进行了高速电驱动履带车辆开环操纵特性分析及高速电驱动履带车辆横摆运动响应试验,并在此基础上完成了基于人-车-路闭环系统的电驱动履带车辆操纵特性分析。研究结果表明:车速越高,横摆角速度稳定值越小;路面条件越好,车辆横摆角速度响应越快;当考虑电驱动车辆的动态响应特性后,保证闭环系统稳定的驾驶员预瞄时间需要增大,驾驶员最短反应滞后时间缩短;驱动电机响应速度越快,使系统稳定的最小预瞄时间越大。

关键词: 电驱动履带车辆, 高速履带车辆, 操纵特性, 横摆运动, 人-车-路闭环系统

Abstract:

In order to lay the foundation for the evaluation and control of the high-speed electric tracked vehicle’s handling stability, the open-loop handling characteristics of the vehicle are analyzed, and the vehicle yaw motion response test is conducted. Then, on this basis, the vehicle’s handling characteristics based on the driver-vehicle-road closed-loop system are analyzed. The results show that: the higher the vehicle speed is, the smaller the yaw rate stability value is; the better the road condition is, the faster the yaw rate response is; when the dynamic response characteristics of the vehicle are considered, the driver’s preview time to ensure the stability of the closed-loop system needs to be increased, and the driver’s shortest reaction delay time is shortened. In addition, faster response speed of the drive motor requires greater minimum preview time to ensure the system stability.

Key words: electric tracked vehicle, high speed tracked vehicle, handling characteristics, yaw motion, driver-vehicle-road closed-loop system

中图分类号:

TJ811

袁艺, 盖江涛, 周广明, 高秀才, 李训明, 马长军. 高速电驱动履带车辆操纵特性分析[J]. 兵工学报, 2023, 44(1): 203-213.

YUAN Yi, GAI Jiangtao, ZHOU Guangming, GAO Xiucai, LI Xunming, MA Changjun. Analysis of High-Speed Electric Tracked Vehicle’s Handling Characteristics[J]. Acta Armamentarii, 2023, 44(1): 203-213.

图/表 28

图1 履带车辆转向平面运动示意图

Fig.1 Diagram of plane motion for steering of tracked vehicle

图2 电驱动装置结构简图

Fig.2 Structural diagram of the electric driver

图3 电驱动履带车辆方块图

Fig.3 Block diagram of the electric tracked vehicle

图4 2阶环节极点实部与车速关系

Fig.4 Relationship between the real part of the pole of the second-order link and the vehicle speed

图5 系统极点

Fig.5 System poles

图6 方向盘转角

Fig.6 Steering wheel angle

图7 车速

Fig.7 Vehicle speed

图8 电驱动履带车辆横摆角速度

Fig.8 Yaw rate of the electric tracked vehicle

图9 方向盘转角斜阶跃输入与方向盘转角试验数据对比

Fig.9 Comparison between ramp step input of steering wheel angle and test data of steering wheel angle

图10 横摆角速度试验结果与方向盘转角斜阶跃输入下横摆角速度响应对比

Fig.10 Comparison between yaw rate test data and the yaw rate ramp step response

图11 不同车速下电驱动履带车辆横摆角速度阶跃响应

Fig.11 Step response of the electric vehicle yaw rate with different speeds

图12 不同路面参数下车辆横摆角速度阶跃响应

Fig.12 Step response of the vehicle yaw rate with different ground parameters

图13 车辆行驶轨迹

Fig.13 Vehicle track

图14 驾驶员操纵环节方块图

Fig.14 Block diagram of the driver control links

图15 准稳态闭环系统方块图

Fig.15 Block diagram of the quasi-steady closed-loop system

图16 不同预瞄时间下单移线工况闭环系统响应

Fig.16 Response of the closed-loop system under single lane change condition with different preview times

图17 TP=0.5s时单移线工况闭环系统响应

Fig.17 Response of the closed-loop system under single line lane change condition with TP=0.5s

图18 不同驾驶增益下单移线工况闭环系统响应

Fig.18 Response of the closed-loop system under single lane change condition with different driving gains

图19 GD=6000时单移线工况闭环系统响应

Fig.19 Response of the closed-loop system under single lane change condition with GD=6000

图20 不同车辆参数单移线工况闭环系统响应

Fig.20 Response of the closed-loop system under single lane change condition with different vehicle parameters

图21 不同车速单移线工况闭环系统响应

Fig.21 Response of the closed-loop system under single lane change condition with different vehicle speeds

图22 人-车-路动态闭环系统方块图

Fig.22 Block diagram of the driver-vehicle-road dynamic closed-loop system

图23 单移线工况不同预瞄时间下车辆轨迹

Fig.23 Vehicle track under single lane change condition with different preview times

图24 单移线工况不同预瞄时间下车辆横向加速度

Fig.24 Vehicle lateral acceleration under single lane change condition with different preview times

图25 单移线工况驾驶员不同滞后时间下车辆轨迹

Fig.25 Vehicle track under single lane change condition with different driver reaction delay times

图26 单移线工况驾驶员不同滞后时间下车辆横向加速度

Fig.26 Vehicle lateral acceleration under single lane change condition with different driver reaction delay times

图27 单移线工况电机不同响应时间下车辆轨迹

Fig.27 Vehicle track under single lane change condition with different motor response times

图28 单移线工况电机不同响应时间下车辆横向加速度

Fig.28 Vehicle lateral acceleration under single lane change condition with different motor response times

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