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

doi:10.12382/bgxb.2022.0850

摘要/Abstract

摘要：

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。

关键词: 履带车辆, 双侧电机耦合驱动, 单侧电机故障, 安全控制, 制动避障

Abstract:

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.

Key words: tracked vehicle, two-side motor coupling drive, unilateral motor failure, safety control, braking obstacle avoidance

中图分类号:

TJ810.3⁺23

生辉, 项昌乐, 盖江涛, 袁艺, 简洪超, 张楠. 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[J]. 兵工学报, 2023, 44(11): 3498-3507.

SHENG Hui, XIANG Changle, GAI Jiangtao, YUAN Yi, JIAN Hongchao, ZHANG Nan. Vehicle Safety Control of Tracked Vehicle Driven by Two-sided Motor Coupling under the Failure Mode of One-sided Motor[J]. Acta Armamentarii, 2023, 44(11): 3498-3507.

图/表 22

图1 双侧电机耦合驱动系统结构原理框图

Fig.1 Schematic diagram of structure of two-sided motor coupling drive system

图2 所用时间统计

Fig.2 Statistics of time used

图3 仿真模型

Fig.3 Simulation model

图4 30km/h车速曲线

Fig.4 Speed curve of 30km/h

图5 30km/h车辆运行轨迹曲线

Fig.5 Running track curve of vehicle at 30km/h

图6 60km/h车速曲线

Fig.6 Speed curve of 60km/h

图7 60km/h车辆运行轨迹曲线

Fig.7 Running track curve of vehicke at 60km/h

图8 84km/h车速曲线

Fig.8 Speed curve of 84km/h

图9 84km/h车辆运行轨迹曲线

Fig.9 Running track curve of vehicle at 84km/h

图10 制动避障控制结构

Fig.10 Braking obstacle avoidance control structure

图11 综合控制单元的控制结构

Fig.11 Control structure of integrated control unit

图12 线控液压制动系统控制结构

Fig.12 Control structure of hydraulic brake-by-wire system

图13 制动转矩协同控制结构

Fig.13 Cooperative control structure of braking torque

图14 基于RT-LAB的半实物实时仿真平台

Fig.14 Hardware-in-the-loop simulation platform based on RT-LAB

图15 操纵信号

Fig.15 Maneuvering signal

图16 相对转向半径

Fig.16 Relative turning radius

图17 车速

Fig.17 Vehicle speed

图18 操纵信号

Fig.18 Maneuvering signal

图19 主动轮转速

Fig.19 Driving wheel speed

图20 相对转向半径

Fig.20 Relative turning radius

图21 车速

Fig.21 Vehicle speed

图22 车辆运行轨迹

Fig.22 Vehicle running track

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