双电机耦合驱动履带车辆自适应滑模转向控制

doi:10.3969/j.issn.1000-1093.2015.03.004

兵工学报 ›› 2015, Vol. 36 ›› Issue (3): 405-411.doi: 10.3969/j.issn.1000-1093.2015.03.004

双电机耦合驱动履带车辆自适应滑模转向控制

盖江涛^1,2，黄守道¹，周广明²，刘翼²，马田²

(1.湖南大学电气与信息工程学院湖南长沙 410082;

收稿日期:2014-05-08 修回日期:2014-05-08 上线日期:2015-05-01
通讯作者: 盖江涛 E-mail:jiangtaogai@163.com
作者简介:盖江涛(1981—)男副研究员，博士研究生
基金资助:
国防科技工业局基础产品创新科研项目（VTDP-3102）

Adaptive Sliding Mode Steering Control of Double Motor Coupling Drive Transmission for Tracked Vehicle

GAI Jiang-tao^1,2， HUANG Shou-dao¹ , ZHOU Guang-ming², LIU Yi², MA Tian²

(1.College of Electric and Information Engineering, Hunan University, Changsha 410082, Hunan, China;2.Science and Technology on Vehicle Transmission Laboratory, China North Vehicle Research Institute, Beijing 100072, China）

Received:2014-05-08 Revised:2014-05-08 Online:2015-05-01
Contact: GAI Jiang-tao E-mail:jiangtaogai@163.com

摘要/Abstract

摘要： 针对双电机耦合驱动履带车辆转向动力学模型具有多输入多输出（MIMO）、非线性且参数不确定的特点，对系统进行解耦，分解为车速控制系统和转向角速度控制系统。在车速控制系统中为实现车速跟踪误差的收敛，根据期望车速与当前速度信息，提出了鲁棒滑模变结构控制算法；在转向角速度控制系统中，提出了针对转向角速度的模糊滑模自适应控制算法。通过“驾驶员—控制器”在环的双电机耦合驱动履带车辆实时仿真系统，对控制算法进行了仿真实验验证，证明了该控制算法的有效性。

关键词: 兵器科学与技术, 履带车辆, 转向, 解耦控制, 滑模变结构

Abstract: Steering dynamic model of double motor coupling drive transmission for tracked vehicle has the features of MIMO, parameter-uncertainty and nonlinearity. The steering system is transformed into a forward speed control subsystem and a steering speed control subsystem by dynamic decoupling control algorithm.For the forward speed control subsystem, a robustness sliding mode control algorithm is proposed to converge the speed errors based on the desired speed and the current speed. For the steering speed control subsystem, a steering speed control algorithm is designed based on the fuzzy adaptive sliding-mode algorithm to ensure the tracking control of the reference steering speed. The steering tracking control is verified by real-time simulation system.The results show that the proposed control algorithm is effective.

Key words: ordnance science and technology, tracked vehicle, steering, decoupling control, sliding mode variable structure

中图分类号:

盖江涛，黄守道，周广明，刘翼，马田. 双电机耦合驱动履带车辆自适应滑模转向控制[J]. 兵工学报, 2015, 36(3): 405-411.

GAI Jiang-tao， HUANG Shou-dao , ZHOU Guang-ming, LIU Yi, MA Tian. Adaptive Sliding Mode Steering Control of Double Motor Coupling Drive Transmission for Tracked Vehicle[J]. Acta Armamentarii, 2015, 36(3): 405-411.

参考文献

［1］史青录.电传动履带车辆转向动力学特性研究[D].北京：北京理工大学,2007:1.
SHI Qing-lu. Study on dynamic characteristics of electric tracked vehicle on steering [D]. Beijing: Beijing Institute of Technology, 2007:1. (in Chinese)
[2] 孙逢春，张承宁. 装甲车辆混合动力电传动技术[M].北京：国防工业出版社，2008.
SUN Feng-chun, ZHANG Cheng-ning. Technologies for the hybrid electric drive system of armored vehicle[M].Beijing: National Defense Industry Press,2008. (in Chinese)
[3] 盖江涛，李慎龙，周广明，等.一种履带车辆机电复合传动装置：中国，CN101985279A [P].2011-11-02.
GAI Jiang-tao, LI Shen-long, ZHOU Guang-ming, et al. A type of electro-mechanical transmission for tracked vehicle：China,CN101985279A [P].2011-11-02. (in Chinese)
[4] 翟丽,孙逢春,谷中丽.电子差速履带车辆转向转矩神经网络PID控制[J].农业机械学报，2009，40(2)： 1-4.
ZHAI Li，SUN Feng-chun，GU Zhong-li. Neural networks PID control of steering torque for electronic differential tracked vehicle[J].Transactions of the Chinese Society for Agricultural Machinery,2009, 40（2）:1-4. (in Chinese)
[5] 刘翼,毛明,马晓枫,等．零差速电传动履带车辆转向负载自适应控制策略研究[J]．车辆与动力技术，2013(1)：7-11.
LIU Yi, MAO Ming, MA Xiao-feng, et al. Research on self-adaptive steering control strategy for single motor cross drive electric transmission for tracked vehicles[J]. Vehicle & Power Technology，2013(1)：7-11. (in Chinese)
[6] LIU Long, ZHAI Li, FENG Hui-xia. Effects of dynamic characteristics of motor on steering dynamics of electric drive tracked vehicle [J]．Journal of Beijing Institute of Technology: English Edition,2011,20(2)：149-156．
[7] Wong J Y, Chiang C F. A general theory for skid steering of tracked vehicles on firm ground [J]． Proceedings of the Institution of Mechanical Engineers,2001,215(3)：343-355.
[8] 刘金琨. 滑模变结构控制MATLAB仿真[M]. 北京：清华大学出版社，2005，379-387.
LIU Jin-kun. Sliding mode control design and MATLAB simulation[M]. Beijing: Tsinghua University Press，2005:379-387. (in Chinese)
[9] 王声远，霍伟.不确定非完整动力学系统的自适应模糊滑模控制器[J]．控制理论与应用,2003,20(3):427-431.
WANG Sheng-yuan，HUO Wei. Adaptive fuzzy sliding-mode controllers of uncertain dynamic nonholonomic systems[J]. Control Theory & Applications,2003,20(3):427-431. (in Chinese)
[10] 刘金琨,孙富春.滑模变结构控制理论及其算法研究与进展[J]．控制理论与应用,2007,24(3):407-418.
LIU Jin-kun, SUN Fu-chun. Research and development on theory and algorithms of sliding mode control [J]. Control Theory & Applications, 2007,24(3):407-418. (in Chinese)
[11] 邹渊，孙逢春，张承宁.电传动履带车辆“驾驶员——综合控制器”在环的双侧驱动控制实时仿真[J]机械工程学报，2007，43（3）：193-198.
ZOU Yuan, SUN Feng-chun, ZHANG Cheng-ning.Electric tracked vehicle real-time simulation of dual-motor driving control with driver-global controller in-loop[J]. Chinese Journal of Mechanical Engineering, 2007，43（3）：193-198. (in Chinese)

[1]	张伟，刘辉，韩立金，刘宝帅，张勋，张万年. 混合动力履带车辆机电联合制动控制[J]. 兵工学报, 2022, 43(5): 969-981.
[2]	王博洋, 关海杰, 龚建伟, 陈慧岩, 赵卉菁. 面向异构履带车辆的统一运动规划方法[J]. 兵工学报, 2022, 43(2): 241-251.
[3]	徐保荣, 王涛, 梁梓. 基于操纵动作预测的履带车辆载荷谱编制方法与流程[J]. 兵工学报, 2022, 43(2): 252-259.
[4]	杜明刚，张金乐，张喜明，孙亚东，毛飞鸿. 履带装甲车辆空气阻力系数试验测定[J]. 兵工学报, 2021, 42(7): 1564-1568.
[5]	李睿，项昌乐，王超，范晶晶，刘春林. 自动驾驶履带车辆鲁棒自适应轨迹跟踪控制方法[J]. 兵工学报, 2021, 42(6): 1128-1137.
[6]	张杰，马晓军，刘春光，袁东，张运银. 双侧独立电驱动履带车辆反馈线性化解耦与预测行驶控制[J]. 兵工学报, 2021, 42(4): 697-705.
[7]	李春明, 吴维, 郭智蔷, 苑士华, 陈思. 履带车辆纵向与垂向耦合动力学模型及功率特性[J]. 兵工学报, 2021, 42(3): 449-458.
[8]	赵屹东, 陈慧岩, 胡家铭. 双侧独立电驱动履带车辆自动机械变速器线控换挡控制方法[J]. 兵工学报, 2021, 42(3): 459-467.
[9]	盖江涛，刘春生，马长军，沈宏继. 考虑履带滑转滑移的电驱动履带车辆转向控制[J]. 兵工学报, 2021, 42(10): 2092-2101.
[10]	邹渊，张彬，张旭东，赵志颖，康铁宇，郭玉枫，吴喆. 基于归一化优势函数的强化学习混合动力履带车辆能量管理[J]. 兵工学报, 2021, 42(10): 2159-2169.
[11]	马田，王志涛，张欣，庞大千，高晓宇. 履带车辆电传动系统减速机构热特性[J]. 兵工学报, 2021, 42(10): 2170-2179.
[12]	盖江涛，生辉，周广明，刘丽芳. 串联式混合动力履带车辆急加速工况功率平衡控制策略[J]. 兵工学报, 2021, 42(10): 2180-2188.
[13]	曾根，王伟达，盖江涛，马长军，李训明，李欢欢. 双侧电机耦合驱动履带车辆斜坡转向控制策略[J]. 兵工学报, 2021, 42(10): 2189-2195.
[14]	邹天刚，闫清东，盖江涛，侯威，王志涛，帅志斌，孙雪岩. 基于扁平电机的轻混式履带车辆综合传动方案[J]. 兵工学报, 2021, 42(10): 2233-2241.
[15]	张瑞增，龚建伟，陈慧岩，王博洋，刘海鸥. 基于无人驾驶单流传动的中型履带车辆大坡道起步控制[J]. 兵工学报, 2020, 41(8): 1590-1599.

双电机耦合驱动履带车辆自适应滑模转向控制

Adaptive Sliding Mode Steering Control of Double Motor Coupling Drive Transmission for Tracked Vehicle

PDF

可视化

被引次数

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价