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

doi:10.3969/j.issn.1000-1093.2014.12.002

Abstract

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

CLC Number:

TJ81

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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