6×6电驱动轮式车辆驱动防滑控制研究

doi:10.3969/j.issn.1000-1093.2014.09.002

兵工学报 ›› 2014, Vol. 35 ›› Issue (9): 1335-1343.doi: 10.3969/j.issn.1000-1093.2014.09.002

6×6电驱动轮式车辆驱动防滑控制研究

闫永宝，张豫南，颜南明

（装甲兵工程学院控制工程系，北京 100072）

收稿日期:2013-10-31 修回日期:2013-10-31 上线日期:2014-11-03
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)

Research on Acceleration Slip Regulation of 6×6 Electrically-driven Wheeled Vehicle

YAN Yong-bao, ZHANG Yu-nan, YAN Nan-ming

(Department of Control Engineering, Academy of Armored Force Engineering, Beijing 100072, China)

Received:2013-10-31 Revised:2013-10-31 Online:2014-11-03

摘要/Abstract

摘要： 针对6×6电驱动滑动转向无人地面车辆，建立了非线性18自由度车辆动力学模型，基于电动机驱动车轮扭矩精确可控的特点，以滑转率为调节对象，开发了基于平滑切换的复合Fuzzy-PID驱动防滑控制策略，通过Fuzzy控制器提高防滑控制系统的动态性能和不平路面的适应性能，采用增量式PID控制器提高防滑控制系统的稳态性能和控制精度。结合低附路面、高附转低附对接路面、低附转高附对接路面和对开路面4种路况，对防滑控制策略进行了仿真，仿真结果表明所提防滑控制策略能够快速、有效、平滑地抑制驱动轮的瞬时滑转。

关键词: 控制科学与技术, 多轮独立驱动, 驱动防滑, Fuzzy控制, PID控制, 平滑切换

Abstract: A vehicle dynamic model is built for 6×6 electrically-driven skid-steering unmanned ground vehicle with consideration of nonlinear eighteen degree-of-freedom. Based on the accurate controllable characteristics of torque of motor driving wheel, acceleration slip regulation（ASR） control strategies of compound Fuzzy-PID with smooth-switch are developed in order to adjust the slip ratio of driven wheel. The robust dynamic property of the ASR system and its adaptability to uneven road are improved by fuzzy controller, and its stable performance and control precision are enhanced by incremental PID controller. The ASR control strategies are simulated under four different road conditions, i.e. low-u road, high-u-to-low-u joint road, low-u-to-high-u joint road, and u-split road. The simulation results indicate that the proposed ASR control strategies can fast, effectively and smoothly prohibit the driving wheel from transiently slipping.

Key words: control science and technology, multi-wheel independent drive, acceleration slip regulation, Fuzzy control, PID control, smooth-switch

中图分类号:

闫永宝，张豫南，颜南明. 6×6电驱动轮式车辆驱动防滑控制研究[J]. 兵工学报, 2014, 35(9): 1335-1343.

YAN Yong-bao, ZHANG Yu-nan, YAN Nan-ming. Research on Acceleration Slip Regulation of 6×6 Electrically-driven Wheeled Vehicle[J]. Acta Armamentarii, 2014, 35(9): 1335-1343.

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6×6电驱动轮式车辆驱动防滑控制研究

Research on Acceleration Slip Regulation of 6×6 Electrically-driven Wheeled Vehicle

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