六轮独立驱动滑动转向车辆运动控制算法仿真研究

doi:10.3969/j.issn.1000-1093.2013.11.019

兵工学报 ›› 2013, Vol. 34 ›› Issue (11): 1461-1468.doi: 10.3969/j.issn.1000-1093.2013.11.019

六轮独立驱动滑动转向车辆运动控制算法仿真研究

闫永宝¹，张豫南¹，颜南明¹，韩宝亮²

（1装甲兵工程学院控制工程系，北京 100072； 2总装备部南京军事代表局，江苏南京 210009）

收稿日期:2012-11-03 修回日期:2012-11-03 上线日期:2014-01-22
作者简介:闫永宝（1986—），男，博士研究生。
基金资助:
兵器装备预先研究项目(10407010102)

Simulation Study of Motion Control Algorithm for a Sixwheel Independent Drive Skidsteering Vehicle

YAN Yong-bao¹, ZHANG Yu-nan¹, YAN Nan-ming¹, HAN Bao-liang²

(1Department of Control Engineering, Academy of Armored Force Engineering, Beijing 100072, China;2Nanjing Military Representatives Bureau, PLA General Armament Department, Nanjing 210009, Jiangsu, China)

Received:2012-11-03 Revised:2012-11-03 Online:2014-01-22

摘要/Abstract

摘要： 依据六轮独立电驱动滑动转向车辆转向原理及车轮扭矩独立可控的特点，结合驱动力优化分配及操控稳定性问题，提出了一种运动控制算法。该算法由速度控制器，转弯控制器和轮胎力最优分配控制器组成。其中，速度控制器和转弯控制器根据车辆状态产生整车所需总的纵向力和转弯横摆力矩，轮胎力最优化分配控制器根据轮胎垂直载荷优化分配各个车轮所需的扭矩。仿真结果表明：垂直载荷较大的轮胎获得了较大的驱动扭矩，与平均分配算法相比，采用轮胎力最优化分配算法，轮胎负荷率降低了979%，提高了车辆的操控稳定性。

关键词: 控制科学与技术, 滑动转向, 独立驱动, 驱动力分配, 操控稳定性

Abstract: In view of the steering theory and independently controlled torque of sixwheel independent electric drive skidsteering vehicle, a motion control algorithm is proposed based on the problems of driving force optimum allocation and control stability. The driving control algorithm consists of three parts: a speed controller, a steering controller and a tire force optimum distribution controller. The speed controller and steering controller are designed to determine the generalized longitudinal force and yawing moment required to achieve vehicle steering. The tire force optimization distribution controller determines how much torque should be generated at each wheel based on the vertical load of tire. The simulation results show that the tire having the bigger vertical load has the more driving torque on it. Compared with the equal distribution method, the optimum distribution method shows that the tire load rate is decreased by 979%.

Key words: control science and technology, skidsteering, independent drive, driving force distribution, handling and stability

中图分类号:

闫永宝，张豫南，颜南明，韩宝亮. 六轮独立驱动滑动转向车辆运动控制算法仿真研究[J]. 兵工学报, 2013, 34(11): 1461-1468.

YAN Yong-bao, ZHANG Yu-nan, YAN Nan-ming, HAN Bao-liang. Simulation Study of Motion Control Algorithm for a Sixwheel Independent Drive Skidsteering Vehicle[J]. Acta Armamentarii, 2013, 34(11): 1461-1468.

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六轮独立驱动滑动转向车辆运动控制算法仿真研究

Simulation Study of Motion Control Algorithm for a Sixwheel Independent Drive Skidsteering Vehicle

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