摘要
针对6×6电驱动滑动转向无人地面车辆,建立了非线性18自由度车辆动力学模型,基于电动机驱动车轮扭矩精确可控的特点,以滑转率为调节对象,开发了基于平滑切换的复合FuzzyPID驱动防滑控制策略,通过Fuzzy控制器提高防滑控制系统的动态性能和不平路面的适应性能,采用增量式PID控制器提高防滑控制系统的稳态性能和控制精度。结合低附路面、高附转低附对接路面、低附转高附对接路面和对开路面4种路况,对防滑控制策略进行了仿真,仿真结果表明所提防滑控制策略能够快速、有效、平滑地抑制驱动轮的瞬时滑转。
A vehicle dynamic model is built for 6 x 6 electrically-driven skid-steering unmanned ground vehicle with consideration of nonlinear eighteen degree-of-freedom. Based on the accurate controllable characteristics of torque of motor driving wheel, acceleration slip regulation （ASR） control strategies of compound Fuzzy-PID with smooth-switch are developed in order to adjust the slip ratio of driven wheel. The robust dynamic property of the ASR system and its adaptability to uneven road are improved by fuzzy controller, and its stable performance and control precision are enhanced by incremental PID controller. The ASR control strategies are simulated under four different road conditions, i.e. low-u road, high-u-to- low-u joint road, low-u-to-high-u joint road, and u-split road. The simulation results indicate that the proposed ASR control strategies can fast, effectively and smoothly prohibit the driving wheel from transiently slipping.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2014年第9期1335-1343,共9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
多轮独立驱动
驱动防滑
FUZZY控制
PID控制
平滑切换
control science and technology
multi-wheel independent drive
acceleration slip regulation
Fuzzy control
PID control
smooth-switch
