摘要
依据六轮独立电驱动滑动转向车辆转向原理及车轮扭矩独立可控的特点,结合驱动力优化分配及操控稳定性问题,提出了一种运动控制算法。该算法由速度控制器,转弯控制器和轮胎力最优分配控制器组成。其中,速度控制器和转弯控制器根据车辆状态产生整车所需总的纵向力和转弯横摆力矩,轮胎力最优化分配控制器根据轮胎垂直载荷优化分配各个车轮所需的扭矩。仿真结果表明:垂直载荷较大的轮胎获得了较大的驱动扭矩,与平均分配算法相比,采用轮胎力最优化分配算法,轮胎负荷率降低了9.79%,提高了车辆的操控稳定性。
In view of the steering theory and independently controlled torque of six-wheel independent electric drive skid-steering vehicle, a motion control algorithm is proposed based on the problems of driving force optimum allocation and control stability. The driving control algorithm consists of three parts： a speed controller, a steering controller and a tire force optimum distribution controller. The speed controller and steering controller are designed to determine the generalized longitudinal force and yawing moment required to achieve vehicle steering. The tire force optimization distribution controller determines how much torque should be generated at each wheel based on the vertical load of tire. The simulation results show that the tire having the bigger vertical load has the more driving torque on it. Compared with the equal distribution method, the optimum distribution method shows that the tire load rate is decreased by 9.79%.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2013年第11期1461-1468,共8页
Acta Armamentarii
基金
兵器装备预先研究项目(10407010102)
关键词
控制科学与技术
滑动转向
独立驱动
驱动力分配
操控稳定性
control science and technology
skid-steering
independent drive
driving force distribution
handling and stability
