Vehicle Safety Control of Tracked Vehicle Driven by Two-sided Motor Coupling under the Failure Mode of One-sided Motor

doi:10.12382/bgxb.2022.0850

Abstract

Abstract:

The deviation and even safety problems of vehicle are easily caused if the unilateral motor of the tracked vehicle driven by two-sided motor fails. The safety control of vehicle braking and obstacle avoidance in the failure mode of unilateral motor is studied to ensure the safety of vehicles. The vehicle safety is analyzed based on the control mode that one side of the real vehicle fails and the other side is in the failure mode in time. Therefore, an obstacle avoidance control strategy in the braking process is added based on the current control mode. A vehicle safety control strategy of tracked vehicle driven by double-side motor coupling in the mode of single-side motor failure is presenred, and it is verified by RT-LAB hardware-in-the-loop real-time simulation. The results show that this control strategy can be used to realize the steering control of vehicles with different relative steering radii at different speeds in the mode of single-side motor failure according to the driver’s intention, and it can stabilize the steering and ensure the safety of tracked vehicle in the face of continuous obstacle avoidance requirements.

Key words: tracked vehicle, two-side motor coupling drive, unilateral motor failure, safety control, braking obstacle avoidance

CLC Number:

TJ810.3⁺23

SHENG Hui, XIANG Changle, GAI Jiangtao, YUAN Yi, JIAN Hongchao, ZHANG Nan. Vehicle Safety Control of Tracked Vehicle Driven by Two-sided Motor Coupling under the Failure Mode of One-sided Motor[J]. Acta Armamentarii, 2023, 44(11): 3498-3507.

Figures/Tables 22

Fig.1 Schematic diagram of structure of two-sided motor coupling drive system

Fig.2 Statistics of time used

Fig.3 Simulation model

Fig.4 Speed curve of 30km/h

Fig.5 Running track curve of vehicle at 30km/h

Fig.6 Speed curve of 60km/h

Fig.7 Running track curve of vehicke at 60km/h

Fig.8 Speed curve of 84km/h

Fig.9 Running track curve of vehicle at 84km/h

Fig.10 Braking obstacle avoidance control structure

Fig.11 Control structure of integrated control unit

Fig.12 Control structure of hydraulic brake-by-wire system

Fig.13 Cooperative control structure of braking torque

Fig.14 Hardware-in-the-loop simulation platform based on RT-LAB

Fig.15 Maneuvering signal

Fig.16 Relative turning radius

Fig.17 Vehicle speed

Fig.18 Maneuvering signal

Fig.19 Driving wheel speed

Fig.20 Relative turning radius

Fig.21 Vehicle speed

Fig.22 Vehicle running track

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