电传动履带车辆电子差速转向控制策略

Steering Control Strategy of Electronic Differential Speed in Electric Drive Tracked Vehicle

  • 摘要: 提出一种电传动履带车辆电子差速转向控制策略. 构建了双感应电机驱动履带车辆电子差速控制系统;通过履带车辆运动学和动力学分析,提出基于无功功率感应电机模型参考自适应控制(MRAC)的电子差速转向控制策略;建立了感应电机间接磁场定向(IFOC)转速控制系统,设计了基于无功功率的感应电机MRAC控制模型,并进行了Popov超稳定性判稳分析. 采用该策略进行了实车试验,不同速差行驶转向的结果表明,该策略可使车辆获得良好的差速转向性能.

     

    Abstract: A steering control strategy of electronic differential speed for electric drive tracked vehicles is proposed. A control system of electronic differential speed for tracked vehicle with dual induction motors drive is established. According to the kinematics and dynamics of vehicles, a steering control strategy of electronic differential speed based on reactive power model reference adaptive control(MRAC)of induction motor is proposed. A speed control scheme of indirect field oriented control(IFOC)of induction motor is developed. A control model of MRAC based on reactive power is designed, and stability of the model is analyzed by Popovs hyperstability. Experiments with the strategy in running steering with different speeds were carried out. Experimental results indicated that the strategy led to fine steering performances.

     

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