Steering on Ramp Control Strategy of Double Motor Coupling Drive Transmission for Tracked Vehicle

doi:10.3969/j.issn.1000-1093.2021.10.014

Abstract

Abstract: The steering on ramp is a typical driving condition for tracked vehicle，and the control of steering on ramp is difficult because the dynamics on the ramp are quite different from those on the plane due to the influence of gravity forces along the ramp. In order to ensure a stable steering on ramp，the steering principle of the double motor coupling drive transmission is analyzed，and the dynamics and kinematics of tracked vehicle are studied. A kinematics and dynamics model of steering on ramp is proposed, and a model predictive control strategy is proposed based on the the proposed model. The control strategy is modeled by the MATLAB/Simulink for different slope angles and steering radii，and is verified using a tracked vehicle with double motor coupling drive transmission.The results show that the steering on ramp model has high creditability，and the steering on ramp control strategy based on model prediction can be used to make the vehicle steer stably.

Key words: trackedvehicle, doublemotorcouplingdrivetransmission, steeringonramp, steeringcontrolstrategy, modelprediction

CLC Number:

TJ810.2

ZENG Gen， WANG Weida， GAI Jiangtao， MA Changjun， LI Xunming， LI Huanhuan. Steering on Ramp Control Strategy of Double Motor Coupling Drive Transmission for Tracked Vehicle[J]. Acta Armamentarii, 2021, 42(10): 2189-2195.

References

[1] CHUNG Y，KIM H.Interpretation of the steering characteristics of a tracked vehicle-concerning track tension and regenerative power: SAE Technical Paper 923942[R].New York，NY，US:SAE International，1992.
[2] 闫清东，张连第，赵毓芹．坦克构造与设计（下册）[M]. 北京:北京理工大学出版社，2007.
YAN Q D，ZHANG L D，ZHAO Y Q.Tank construction and design Ⅱ[M].Beijing:Beijing Institute of Technology Press，2007.(in Chinese)

[3] 刘修骥.车辆传动系统分析[M].北京:国防工业出版社，1998.
LIU X J.Vehicle transmission system analysis[M].Beijing:National Defense Industry Press，1998.(in Chinese)
[4] YU J，GUO X，PEI X，et al.Robust model predictive control for path tracking of autonomous vehicle： SAE Technical Paper 2019-01-0693[R].New York，NY，US:SAE，2019.
[5] 孙逢春，史青录，郭汾，等.履带式车辆斜坡转向时的动力学特性[J].中国机械工程，2007，18(22):2766-2771.
SUN F C，SHI Q L，GUO F，et al.Characteristics of dynamics of tracked vehicles steerings on ramp[J].China Mechanical Engineering，2007，18(22):2766-2771.(in Chinese)
[6] 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，2008:44-48.
SUN F C，ZHANG C N.Hybrid electric transmission technology armored vehicles[M].Beijing:National Defense Industry Press，2008:44-48.(in Chinese)
[7] 李波，张承宁，李军求.基于RecurDyn和Simulink的电传动车辆转矩控制策略[J].农业机械学报，2009，40(7):1-5.
LI B，ZHANG C N，LI J Q.Torque control strategies based on RecurDyn and Simulink for electric drive tracked vehicle[J].Tran-sactions of the Chinese Society for Agricultural Machinery，2009，40(7): 1-5.(in Chinese)
[8] VALENZUELA M A，LORENZ R D．Electronic line shafting control for paper machine drives[J].IEEE Transactions on Industry Applications，2001，37(1):158-164．
[9] 翟丽，孙逢春，谷中丽，等.电传动履带车辆电子差速转向控制策略[J].北京理工大学学报，2009，29(2):113-117.
ZHAI L，SUN F C，GU Z L，et al.Steering control strategy of electronic differential speed in electric drive tracked vehicle[J].Transactions of Beijing Institute of Technology，2009，29(2):113- 117.(in Chinese)
[10] 侯旭朝.双电机耦合驱动履带车辆转向动态过程控制策略研究[D].北京：北京理工大学，2018.
HOU X Z.Study on control strategy of steering dynamic process of dual-motor coupling driving tracked vehicle[D].Beijing:Beijing Institute of Technology，2018.(in Chinese)
[11] 李春明，盖江涛，袁艺，等.履带车辆双电机耦合驱动系统同步特性[J].兵工学报，2020，41(10):1930-1938.
LI C M，GAI J T，YUAN Y，et al.Synchronization characteristics of dual-motor coupled driving system of tracked vehicle[J].Acta Armamentarii，2020，41(10):1930-1938.(in Chinese)
[12] 李言民，苗欣，姜付杰．基于模糊PID控制器的多电机交叉耦合控制同步控制系统设计[J].电工技术，2019(6):118-120．
LI Y M，MIAO X，JIANG F J．Cross-coupled multi-motor synchronous control system based on fuzzy PID[J]．Electric Engineering，2019(6):118-120.(in Chinese)
[13] 袁艺，盖江涛，刘春生，等.履带式电驱动推土机直驶稳定性研究[J].太原理工大学学报，2020，51(3):462-470.
YUAN Y，GAI J T，LIU C S，et al.Research on straight-line running stability of tracked electric bulldozer[J].Journal of Taiyuan University of Technology，2020，51(3):462-470.(in Chinese)
[14] 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 J T，LI S L，ZHOU G M，et al. A type of electro-mechanical transmission for tracked vehicle: CN101985279A[P].2011-11-02.(in Chinese)
[15] 盖江涛，黄守道，周广明，等.双电机耦合驱动履带车辆自适应滑膜转向控制[J].兵工学报，2015，36（3）:405-411.
GAI J T，HUANG S D，ZHOU G M，et al.Adaptive sliding mode steering control of double motor coupling drive transmission for tracked vehicle[J]．Acta Armamentarii，2015，36(3):405-411.(in Chinese)
[16] ZENG G，TAO G T，HAN Z D，et al.The study of steering on ramp based on electric tracked vehicle[C]∥Proceedings of SAE 2019 Intelligent and Connected Vehicles Symposium.Kunshan，China:SAE，2019.
[17] 郭汾，孙逢春，吴涛.电传动履带车辆横坡直驶控制策略研究[J].兵工学报，2008，29(3):257-261.
GUO F，SUN F C，WU T. Straight-line running control for electric drive tracked vehicles on transverse slops[J].Acta Armamentarii，2008，29(3):257-261. (in Chinese)

第42卷第10期2021 年10月
兵工学报ACTA ARMAMENTARII
Vol.42No.10Oct.2021