采用线性自抗扰的电传动履带车辆电子差速控制

doi:10.3969/j.issn.1000-1093.2014.12.002

兵工学报 ›› 2014, Vol. 35 ›› Issue (12): 1944-1950.doi: 10.3969/j.issn.1000-1093.2014.12.002

采用线性自抗扰的电传动履带车辆电子差速控制

马晓军^1,2，曾庆含^1,2，袁东^1,2，刘春光^1,2，魏曙光^1,2

（1.装甲兵工程学院陆战平台全电化技术实验室，北京 100072；2.装甲兵工程学院控制工程系，北京 100072）

收稿日期:2014-03-03 修回日期:2014-03-03 上线日期:2015-02-06
作者简介:马晓军（1963—），男，教授，博士生导师
基金资助:
国防科技创新项目（12050005）

Electric Differential Control of Electric Drive Tracked Vehicle with Linear Active Disturbance Rejection Control

MA Xiao-jun^1,2, ZENG Qing-han^1,2, YUAN Dong^1,2, LIU Chun-guang^1,2, WEI Shu-guang^1,2

(1.Laboratory of All-electrization Technology for Ground Combat Platform, Academy of ArmoredForce Engineering, Bejing 100072, China;2.Department of Control Engineering, Academy of Armored Force Engineering, Bejing 100072, China)

Received:2014-03-03 Revised:2014-03-03 Online:2015-02-06

摘要/Abstract

摘要： 履带车辆行驶工况复杂多变，驱动电机调速范围宽，负载的非线性、不确定性和耦合性强，如何保持两侧电机速度差值恒定实现稳定行驶一直是研究的难点。文中提出一种电子差速控制策略，将线性自抗扰（LADRC）控制算法应用于永磁同步电机（PMSM）驱动系统调速控制中，利用线性扩张状态观测器估计所有未知扰动作用量并给予实时动态补偿，从而抑制扰动，提高系统动态性能。基于Matlab和RecurDyn软件开展联合仿真分析，进行电机台架试验。仿真及试验结果表明：采用LADRC调节的转速控制策略，响应快速无超调，抗扰能力强，参数适应性好，能有效提高车辆行驶稳定性，且算法计算量小，易于工程实现。

关键词: 兵器科学与技术, 履带车辆, 电传动, 线性自抗扰, 电子差速

Abstract: The driving cycle of tracked vehicle is so complex, and the drive motor with wide speed range runs under nonlinear, uncertain and strong coupling load. How to control the motor speed to improve the stability of steering has become a research hot point. An electric differential control strategy is put forward. And the LADRC control algorithm is used in speed control of PMSM system, and LESO is used to estimate and compensate the unknown disturbance, thus rejecting the disturbance and improving the dynamic performance of system. The collaborative model of Matlab and RecurDyn softwares and test bench are built. The simulation and experimental results show that the speed control strategy with LADRC can be used to achieve rapid response without overshoot, strong disturbance rejection and good parameter adaptability, which improve the vehicle stability.

Key words: ordnance science and technology, tracked vehicle, electric drive, LADRC, electric differential

中图分类号:

TJ81

马晓军，曾庆含，袁东，刘春光，魏曙光. 采用线性自抗扰的电传动履带车辆电子差速控制[J]. 兵工学报, 2014, 35(12): 1944-1950.

MA Xiao-jun, ZENG Qing-han, YUAN Dong, LIU Chun-guang, WEI Shu-guang. Electric Differential Control of Electric Drive Tracked Vehicle with Linear Active Disturbance Rejection Control[J]. Acta Armamentarii, 2014, 35(12): 1944-1950.

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采用线性自抗扰的电传动履带车辆电子差速控制

Electric Differential Control of Electric Drive Tracked Vehicle with Linear Active Disturbance Rejection Control

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