基于微运动片段的履带式车辆多路面-三维度工况构建方法

doi:10.12382/bgxb.2024.0881

摘要/Abstract

摘要：

为对履带式动力平台进行评估,提出一种基于微运动片段的多路面三维度工况构建方法,旨在解决履带式车辆工况构建中路面类型多、短行程片段较长及影响因素维度多等问题。通过对采集的履带车辆行驶数据进行清洗,并提取行驶片段的速度、角速度及地面行驶阻力系数等三维度数据,结合K-means聚类方法,将行驶片段分类为铺面路、砂石路和起伏土路3种典型路面。依据短行程片段的最小加权三维变化率,将其切分为微运动片段,并进行特征提取与聚类分析。基于微运动片段马尔可夫转移概率构建三维度循环工况,并提出相应的综合评价体系。构建的工况总时长约2000s,3种路面的平均特征覆盖率达到94.63%,真实反映了履带式车辆的行驶特性,具备较高的代表性,为履带式车辆的仿真和台架测试提供了有效工具。

关键词: 履带式车辆, 循环工况, 马尔可夫链, 特征提取, 车辆动力学

Abstract:

To evaluate the performance of tracked vehicles,a multiple road surfaces-three-dimensional driving cycle construction method based on micro-motion segments is proposed.This method aims to address the issues of various types of road surfaces,longer short-trip segments,and the numerous dimensions of influencing factors in the construction of driving cycles for tracked vehicles.The collected driving data of tracked vehicles is processed,and the three-dimensional data such as speed,angular velocity,and ground resistance coefficient are extracted.The K-means clustering method is used to categorize the driving segments into three typical road surfaces:paved road,gravel road,and undulating dirt road.The short-trip segments are divided into micro-motion segments based on their minimum weighted three-dimensional variation rate,and the feature extraction and clustering analysis are made for the short-trip segments.A three-dimensional driving cycle is constructed using the Markov transition probability of the micro-motion segments,and a corresponding comprehensive evaluation system is proposed.The total duration of the constructed driving cycle is approximately 2000 seconds,and the average feature coverage rate of three types of road surfaces is up to 94.63%.This driving cycle accurately reflects the driving characteristics of tracked vehicles and serves as an effective tool for simulation and bench testing of tracked vehicles.

Key words: tracked vehicle, driving cycle, Markov chain, feature extraction, vehicle dynamics

胡据林, 何洪文, 韩雪峰. 基于微运动片段的履带式车辆多路面-三维度工况构建方法[J]. 兵工学报, 2025, 46(9): 240881-.

HU Julin, HE Hongwen, HAN Xuefeng. A Multiple-road Type, Three-dimensional Driving Cycle Construction Method for Tracked Vehicles Based on Micro-motion Segments[J]. Acta Armamentarii, 2025, 46(9): 240881-.

图/表 16

表1 测试车辆主要参数

Table 1 Main parameters of test vehicle

参数	数值	参数	数值
m/kg	5800	i_r	6.74
δ	1.2	f_s/Hz	100
R_d/m	0.21	T_mmax/(N·m)	750
D/m	1.77	N_mmax/(r·min^-1)	3300

图1 短行程片段路面聚类结果

Fig.1 Road surface clustering results of short-trip segments

表2 短行程片段聚类簇主要参数

Table 2 Main parameters of short-trip segment clusters

路面	平均速度/ (m·s^-1)	平均加速度/ (m·s^-2)	平均角速度/ (rad·s^-1)	平均阻力系数	片段数量
铺面路	3.72	0.176	0.055	0.015	1028
砂石路	2.65	0.189	0.057	0.044	776
起伏土路	2.10	0.238	0.084	0.090	522

表3 微运动片段特征

Table 3 Features of micro-motion segments

类别	特征值
速度	起始速度v_start/(m·s^-1)
	结尾速度v_end/(m·s^-1)
	平均速度 $v ¯$ /(m·s^-1)
加速度	起始加速度a_start/(m·s^-2)
	结尾加速度a_end/(m·s^-2)
	平均加速度 $a ¯$ /(m·s^-2)
角速度	起始角速度w_start/(rad·s^-1)
	结尾角速度w_end/(rad·s^-1)
	平均角速度 $w ¯$ /(rad·s^-1)
角加速度	起始角加速度α_start/(rad·s^-2)
	结尾角加速度α_end/(rad·s^-2)
	平均角加速度 $α ¯$ /(rad·s^-2)
阻力系数	起始阻力系数r_start
	结尾阻力系数r_end
	平均阻力系数 $r ¯$
阻力系数变化率	起始阻力系数变化率ρ_start/s^-1
	结尾阻力系数变化率ρ_end/s^-1
	平均阻力系数变化率 $ρ ¯$ /s^-1

表3 微运动片段特征

Table 3 Features of micro-motion segments

类别	特征值
速度	起始速度v_start/(m·s^-1)
	结尾速度v_end/(m·s^-1)
	平均速度 $v ¯$ /(m·s^-1)
加速度	起始加速度a_start/(m·s^-2)
	结尾加速度a_end/(m·s^-2)
	平均加速度 $a ¯$ /(m·s^-2)
角速度	起始角速度w_start/(rad·s^-1)
	结尾角速度w_end/(rad·s^-1)
	平均角速度 $w ¯$ /(rad·s^-1)
角加速度	起始角加速度α_start/(rad·s^-2)
	结尾角加速度α_end/(rad·s^-2)
	平均角加速度 $α ¯$ /(rad·s^-2)
阻力系数	起始阻力系数r_start
	结尾阻力系数r_end
	平均阻力系数 $r ¯$
阻力系数变化率	起始阻力系数变化率ρ_start/s^-1
	结尾阻力系数变化率ρ_end/s^-1
	平均阻力系数变化率 $ρ ¯$ /s^-1

图2 微运动片段聚类结果

Fig.2 Clustering results of micro-motion segments

图3 微运动片段状态转移概率

Fig.3 State transition probabilities of micro-motion segments

图4 工况构建流程

Fig.4 Flowchart of the driving cycle construction

图5 工况评价流程

Fig.5 Flowchart of driving cycle evaluation

表4 工况及路面数据集特征值

Table 4 Feature values of driving cycles and road datasets

类别	特征值
速度	平均速度 $v ¯$ /(m·s^-1)
	最大速度v_max/(m·s^-1)
	速度标准差σ_v/(m·s^-1)
加速度	平均加速度 $a ¯ a$ /(m·s^-2)
	平均减速度 $a ¯ d$ /(m·s^-2)
	最大加速度a_max/(m·s^-2)
	最小加速度a_min/(m·s^-2)
	加速度标准差σ_a/(m·s^-2)
角速度	平均转向角速度 $w ¯$ /(rad·s^-1)
	最大转向角速度w_max/(rad·s^-1)
	转向角速度标准差σ_w/(rad·s^-1)
角加速度	平均转向角加速度 $α ¯ s$ /(rad·s^-2)
	平均回正角加速度 $α ¯ r$ /(rad·s^-2)
	最大角加速度α_max/(rad·s^-2)
	角加速度标准差σ_α/(rad·s^-2)
侧向加速度	平均侧向加速度a_lat/(m·s^-2)
侧向加速度	侧向加速度标准差 $σ a l a t$ /(m·s^-2)
阻力系数	平均阻力系数 $r ¯ g$
	最大阻力系数r_g,max
	最小阻力系数r_g,min
	阻力系数标准差 $σ r g$
阻力系数变化率	平均阻力系数变化率 $ρ ¯$ /s^-1
	最大阻力系数变化率ρ_max/s^-1
	阻力系数变化率标准差σ_ρ/s^-1
行驶状态比例	加速比例p_a/%
	转向比例p_s/%
	上坡比例p_u/%

表4 工况及路面数据集特征值

Table 4 Feature values of driving cycles and road datasets

类别	特征值
速度	平均速度 $v ¯$ /(m·s^-1)
	最大速度v_max/(m·s^-1)
	速度标准差σ_v/(m·s^-1)
加速度	平均加速度 $a ¯ a$ /(m·s^-2)
	平均减速度 $a ¯ d$ /(m·s^-2)
	最大加速度a_max/(m·s^-2)
	最小加速度a_min/(m·s^-2)
	加速度标准差σ_a/(m·s^-2)
角速度	平均转向角速度 $w ¯$ /(rad·s^-1)
	最大转向角速度w_max/(rad·s^-1)
	转向角速度标准差σ_w/(rad·s^-1)
角加速度	平均转向角加速度 $α ¯ s$ /(rad·s^-2)
	平均回正角加速度 $α ¯ r$ /(rad·s^-2)
	最大角加速度α_max/(rad·s^-2)
	角加速度标准差σ_α/(rad·s^-2)
侧向加速度	平均侧向加速度a_lat/(m·s^-2)
侧向加速度	侧向加速度标准差 $σ a l a t$ /(m·s^-2)
阻力系数	平均阻力系数 $r ¯ g$
	最大阻力系数r_g,max
	最小阻力系数r_g,min
	阻力系数标准差 $σ r g$
阻力系数变化率	平均阻力系数变化率 $ρ ¯$ /s^-1
	最大阻力系数变化率ρ_max/s^-1
	阻力系数变化率标准差σ_ρ/s^-1
行驶状态比例	加速比例p_a/%
	转向比例p_s/%
	上坡比例p_u/%

图6 路面路数据集中短行程特征值相关系数

Fig.6 Correlation coefficients of feature values for short-trip segments in road type datasets

图7 包含3种典型路面的三维度工况构建结果

Fig.7 Three-dimensional driving cycle construction results for three typical road conditions

表5 构建工况3种路面特征值

Table 5 Feature values of the constructed driving cycle for three typical road conditions

特征值	铺面路	砂石路	起伏土路
平均速度/(m·s^-1)	14.686	9.767	8.050
最大速度/(m·s^-1)	29.717	28.465	22.669
速度标准差/(m·s^-1)	10.127	5.040	4.691
平均加速度/(m·s^-2)	0.254	0.251	0.317
平均减速度/(m·s^-2)	-0.308	-0.255	-0.369
最大加速度/(m·s^-2)	5.147	3.306	6.173
最小减速度/(m·s^-2)	-8.561	-9.918	-5.970
加速度标准差/(m·s^-2)	0.578	0.463	0.589
平均转向角速度/(rad·s^-1)	0.0695	0.074	0.094
最大转向角速度/(rad·s^-1)	2.091	1.715	1.188
转向角速度标准差/(rad·s^-1)	0.199	0.181	0.185
平均转向角加速度/(rad·s^-2)	0.0634	0.074	0.086
平均回正角加速度/(rad·s^-2)	0.065	0.074	0.089
最大角加速度/(rad·s^-2)	1.623	3.332	3.517
角加速度标准差/(rad·s^-2)	0.154	0.148	0.169
平均侧向加速度/(m·s^-2)	0.267	0.190	0.233
侧向加速度标准差/(m·s^-2)	0.537	0.403	0.483
平均地面行驶阻力系数	0.012	0.047	0.096
最大地面行驶阻力系数	0.149	0.157	0.401
最小地面行驶阻力系数	-0.173	-0.188	-0.390
阻力系数标准差	0.0364	0.033	0.066
平均阻力系数变化率/s^-1	0.011	0.012	0.019
最大阻力系数变化率/s^-1	0.222	0.385	0.669
阻力系数变化率标准差/s^-1	0.018	0.021	0.033
加速比例	54.6	50.4	53.1
转向比例	16.7	19.9	24.5
上坡比例	60.8	51.5	39.2
特征覆盖率/%	93.70	94.00	95.75

图8 构建工况需求功率-时间关系

Fig.8 Power-time curve for driving cycle

表6 一维度与三维度工况功率特征值

Table 6 Power characteristics of single-dimension and three-dimension driving cycles

工况和误差降低	平均功率/ kW	最大功率/ kW	最小功率/ kW	功率均方差/ kW	总耗能/ kJ
一维度	21.01	124.71	-18.83	18.65	41886
三维度	21.86	140.20	-20.79	19.36	43584
原始数据	21.57	157.19	-21.09	19.06
误差降低/%	1.25	9.85	9.29	0.57

图9 一维度与三维度工况EMS运行表现

Fig.9 EMS performance under 1D and 3D driving cycles

表7 一维度与三维度工况EMS运行特征值

Table 7 EMS performance characteristics for 1D and 3D driving cycles

工况和增加比例	电池最大输出功率/ kW	电池最大充电功率/ kW	电池平均功率/ kW	发动机最大功率/ kW	发动机总耗能/ kJ
一维度	124.71	38.83	1.45	84.46	117004
三维度	140.20	40.79	1.50	126.43	121850
增加比例/%	12.42	49.70	2.84	5.03	4.14

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