| 带耦合机构的串联式履带车辆直驶稳定性控制 |
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| 引用本文： | 刘辉,张聪,韩立金,曹福辉,王伟达,侯旭朝.带耦合机构的串联式履带车辆直驶稳定性控制[J].北京理工大学学报,2018,38(S1):112-116. |
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| 作者姓名： | 刘辉 张聪 韩立金 曹福辉 王伟达 侯旭朝 |
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| 作者单位： | 北京理工大学 机械与车辆学院, 北京 100081,北京理工大学 机械与车辆学院, 北京 100081,北京理工大学 机械与车辆学院, 北京 100081,内蒙古第一机械集团有限公司, 内蒙古, 包头 140032,北京理工大学 机械与车辆学院, 北京 100081,北京理工大学 机械与车辆学院, 北京 100081 |
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| 基金项目： | 国家自然科学基金资助项目（51775040） |
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| 摘 要： | 首先分析了串联式混合动力履带车辆耦合机构转矩与转速的输出特性及其对车辆直线行驶稳定性的影响，并利用MATLAB/Simulink仿真平台建立了整车动力学模型，其中考虑了履带的滑移率对附着系数的影响，其次为了提高车辆的直驶稳定性设计了相应的控制策略，即通过检测两侧车速的变化来计算两电机输出转矩的补偿量，并针对PI控制器参数适应性差的问题，通过神经网络自学习的功能实时优化PI控制器的控制参数.最后利用Simulink模型进行仿真，结果表明，神经网络PI控制能够保证车辆的直驶偏移量控制在0.5%左右，满足国家标准中最大直驶偏移量为1%的要求.
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| 关 键 词： | 耦合机构 直驶稳定性 神经网络PI控制 滑移率 |
| 收稿时间： | 2018/6/7 0:00:00 |
Straight Driving StabilityControl of Series Tracked Vehicle with Coupling Mechanism |
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| LIU Hui,ZHANG Cong,HAN Li-jin,CAO Fu-hui,WANG Wei-da and HOU Xu-chao.Straight Driving StabilityControl of Series Tracked Vehicle with Coupling Mechanism[J].Journal of Beijing Institute of Technology(Natural Science Edition),2018,38(S1):112-116. |
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| Authors: | LIU Hui ZHANG Cong HAN Li-jin CAO Fu-hui WANG Wei-da and HOU Xu-chao |
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| Institution: | School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China,School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China,School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China,Inner Mongolia First Machinery Group Co. Ltd, Baotou, Inner Mongolia 140032, China,School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China and School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | In this paper, the output torque and speed characteristics of coupling mechanism and the influence on the driving stability of the hybrid tracked vehicle were analyzed firstly. Then a vehicle dynamics model was established based on the MATLAB/Simulink platform, considering the effect of slip ratio of a vehicle on the adhesion coefficient. To improve the straight driving stability, a control strategy was designed to calculate the compensation of motor torque by detecting speed changes on both sides of the vehicle. To solve the problem of parameter adaptability of PI controller, the self-learning function of neural network was applied to optimize PI controller parameters in real time. Finally, simulation analysis was carried out based on Simulink model. The simulation results show that, the horizontal displacement of the tracked vehicle can be controlled in 0.5%, which meets the requirements of national standards. |
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| Keywords: | coupling mechanism straight driving stability neural network PI controller slip rate |
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