轮边电机驱动差动转向车辆动力学控制

Dynamic Control of Electric Motor Driven Skidsteered Vehicles

摘要:

基于抗积分饱和算法为轮边电机驱动差动转向车辆设计了纵侧向解耦的动力学控制器.分析了差动转向车辆的动力学特性，针对复杂行驶工况下轮胎路面附着条件复杂多变从而影响动力学控制效果的问题，提出了双闭环结构的侧向动力学控制方法.仿真及实车试验结果表明，所设计的控制器具有良好的瞬态及稳态跟踪性能，实现了对驾驶员意图的准确跟踪.

关键词:差动转向车辆; 二自由度模型; 动力学特性; 抗积分饱和算法

Abstract:

A dynamic controller based on antiwindup proportionalintegral (PI) algorithm for skidsteered vehicles was designed. The dynamic characteristics of skidsteered vehicles were analyzed, and a double closedloop lateral dynamic control method was proposed to improve the control performance which was influenced by the complex and varied tireroad adhesion conditions. The simulation and experiment results show that the proposed dynamic controller has good transient and steady tracking performance, which can track the driver’s intention accurately.

Key words:skidsteered vehicles; 2degree of freedom (DOF) reference model; dynamic characteristics; antiwindup proportionalintegral (PI) algorithm