电驱动履带车辆转向稳定性控制研究

doi:10.3901/JME.2024.08.233

机械工程学报 ›› 2024, Vol. 60 ›› Issue (8): 233-244.doi: 10.3901/JME.2024.08.233

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电驱动履带车辆转向稳定性控制研究

侯旭朝, 马越, 项昌乐

北京理工大学机械与车辆学院北京 100081

收稿日期:2023-03-12 修回日期:2023-10-20 出版日期:2024-04-20 发布日期:2024-06-17
作者简介:侯旭朝(通信作者),男,1995年出生,博士研究生。主要研究方向为车辆动力学控制。E-mail:houxvzhao@126.com;马越,男,1977年出生,博士,教授,博士研究生导师。主要研究方向为机器人控制、机电复合传动。E-mail:armcynicism@bit.edu.cn;项昌乐,男,1963年出生,博士,教授,博士研究生导师。主要研究方向为振动噪声分析与控制、机电复合传动。E-mail:xiangcl@bit.edu.cn

Research on Steering Stability Control of Electric Drive Tracked Vehicle

HOU Xuzhao, MA Yue, XIANG Changle

School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081

Received:2023-03-12 Revised:2023-10-20 Online:2024-04-20 Published:2024-06-17

摘要/Abstract

摘要： 履带车辆在高速转向时有侧滑和失控的风险。电驱动履带车辆能够达到高车速和较小的转向半径，主动轮转矩和转速控制灵活。基于转向动力学建模与特性分析，提出履带车辆转向稳定性控制方法。建立履带车辆转向动力学模型。模型考虑履带与地面间的摩擦与滑动，计算车辆转向动态过程中各履带板受到的作用力。通过数值计算得到车辆转向的相轨迹。分析系统的平衡点和稳定性，为转向控制器设计提供依据。对动力学模型进行简化，并依据简化模型设计履带车辆转向非线性自抗扰控制器(Active disturbance rejection control，ADRC)，设计防侧滑控制策略。利用电驱动履带底盘在不同类型地面对提出的控制器进行验证。结果表明，与PID控制相比，提出的自抗扰转向控制方法将转向角速度跟踪的方均根误差降低7.43%，能够在较大转向角速度范围内稳定跟踪转向指令。提出的防侧滑控制方法显著提高了车辆高速转向的稳定性和平稳性。

关键词: 履带车辆, 电驱动, 转向控制, 自抗扰控制, 稳定性

Abstract: Tracked vehicles take the risk of sideslip and get out of control when turning at high speeds. Electric high-speed tracked vehicles can achieve a small turning radius at high speeds. The speed and torque output by the sprocket can be flexibly operated. Based on steering dynamics modeling and analysis, a steering stability control method for tracked vehicles is proposed. The steering dynamics model of tracked vehicles is established. The model considers the friction and sliding between the track shoes and the ground, and calculates the horizontal force on each track shoe during vehicle steering. The phase trajectory of steering is obtained by numerical calculation. The stability of the vehicle system is analyzed for the design of the steering controller. The dynamics model is simplified, and a non-linear active disturbance rejection controller(ADRC) and anti-sideslip strategy for tracked vehicle steering is designed based on the simplified model. The controller is verified on an electric tracked mobile platform. Compared with PID control, the proposed steering controller achieves stable yaw rate tracking in a wide range and reduces the RMSE of yaw rate tracking by 7.43%. The results show that the proposed anti-sideslip method significantly improves the stability and smoothness of the vehicle's high-speed steering.

Key words: tracked vehicle, electric drive, steering control, active disturbance rejection control, stability

中图分类号:

TH113

侯旭朝, 马越, 项昌乐. 电驱动履带车辆转向稳定性控制研究[J]. 机械工程学报, 2024, 60(8): 233-244.

HOU Xuzhao, MA Yue, XIANG Changle. Research on Steering Stability Control of Electric Drive Tracked Vehicle[J]. Journal of Mechanical Engineering, 2024, 60(8): 233-244.

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电驱动履带车辆转向稳定性控制研究

Research on Steering Stability Control of Electric Drive Tracked Vehicle

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