摘要
为了准确实现驾驶员转向意图,解决履带车辆液压机械差速转向系统转向行驶控制问题,该文在对液压机械差速转向系统工作原理进行分析的基础上,运用动力学理论和模块化方法,推导了液压机械差速转向系统动力学方程,建立了系统数学模型。根据履带车辆转向行驶理论和转向安全要求,结合系统数学模型,设计了一种履带车辆液压机械差速转向系统控制策略,通过控制单元与液压泵排量控制器相互配合实现转向控制。仿真结果表明,所设计的液压机械差速转向系统控制策略安全有效,能准确实现驾驶员转向意图。
In order to achieve accurately the driver’s steering intention and solve the steering control problem in the tracked vehicles with hydro-mechanical differential turning system,a dynamic model of hydro-mechanical differential turning system was deduced by analyzing working principle of a hydro-mechanical differential turning system and using dynamics principle and modular method in this paper,and mathematical model of the system was established.Based on the steering travel theory of tracked vehicles and the requirements of steering safety and the mathematical model proposed,a control strategy of hydro-mechanical differential turning system was designed,of which steering control was realized by coordination its control unit with displacement controller of hydraulic pump.The simulation results showed that the control strategy was safe and effective,and the driver’s steering intention can be achieved exactly.
出处
《农业工程学报》
EI
CAS
CSCD
北大核心
2012年第8期78-83,共6页
Transactions of the Chinese Society of Agricultural Engineering
基金
四川省科技厅科技支撑项目(2010GZ0173)
关键词
液压机械
差速
转向
数学模型
履带车辆
控制策略
hydraulic mechanical
variable speed transmission
steering
mathematical model
tracked vehicle
control strategy
