双侧电机驱动高速履带车辆动态转向侧传动机电耦合机理及多目标优化稳定性控制方法研究

Steering is a core issue in the driving theory of high-speed tracked vehicle. For dual motors independent drive high speed tracked vehicle exists the problem of excessive power and the phenomenon of understeer, oversteer and roll etc, therefore the dynamic steering electromechanical coupling mechanism and multi-objective optimization lateral stability control methods are studied. According to lateral dynamics and statics analysis for dynamic steering of dual motors drive high speed tracked vehicle, a coupling steering system with a steering motor, a planet coupling device and a side motor is established to study the electromechanical coupling mechanism. By analyzing the influence of track slip, track tension force, steering radius, road conditions, steering bulldozing resistance and steering acceleration resistance on yaw rate, centerline offset and actual steering radius, and the influence of motor's torque fluctuation a on dynamic steering stability, the stability evaluation methods is established. A steering stability control system with a instability judgment controller, a yaw moment control and a torque distribution controller is established to study multi-objective optimization control strategy and torque distribution control algorithm. The simulation, bench test and vehicle experiment are carried out to verify the feasibility of the steering stability control, and the optimized torque distribution law between dual motors is described. This study has important theoretical significance and practical value for the tracked vehicle steering flexibility and controllability.

转向是高速履带车辆行驶理论中的核心问题。针对串联式双侧电机独立驱动高速履带车辆存在的单侧功率过大和转向不足、转向过度、侧翻、脱带等现象，研究动态转向侧传动机电耦合机理及多目标优化稳定性控制方法。 通过双侧电机驱动履带车辆动态转向侧向动力学和静力学分析，构建转向电机-行星耦合装置-单侧驱动电机耦合转向系统，研究机电耦合机理。通过分析履带滑转滑移变化量、履带张紧力、转向半径、路面、转向推土阻力、转向加速阻力等因素对横摆角速度、中心线偏移量和实际转向半径的影响规律，以及驱动电机转矩脉动对转向稳定性影响规律，形成稳定性评价方法。通过构建失稳判断控制器-横摆力矩控制器-力矩分配控制器稳定性控制系统，研究多目标优化稳定性控制方法和力矩分配控制算法；通过仿真和实验，验证稳定性控制方法的可行性，获得双侧电机最优的力矩分配规则。 本项目研究对履带车辆转向的灵活性和可控性具有重要的理论意义与实用价值。

针对串联式双侧电机独立驱动高速履带车辆存在的单侧功率过大、低速小半径转向不足、高速转向功率不足等问题，研究动态转向侧传动机电耦合机理及多目标优化稳定性控制方法。建立了双侧电机驱动高速履带车辆动态转向动力学方程，获得了稳态转向和动态转向时两侧电机转矩和功率需求，对动态转向单侧电机所需功率进行了公式修正。构建了双侧电机驱动高速履带车辆转向电机-行星耦合装置-单侧驱动电机机电耦合转向系统，研制了转向系统耦合器，搭建了双电机驱动转向耦合系统测试平台，验证了耦合装置的转矩耦合和功率耦合特性。建立了基于机电耦合的双侧电机驱动高速履带车辆转向联合仿真模型和快速控制原型技术的硬件在环（HIL）仿真模型，提出了双侧电机驱动高速履带车辆动态转向稳定性影响因素和稳定性评价方法，分析了路面和转向角速度对转向稳定性的影响。构建了双电机驱动高速履带车辆转向控制系统，提出了基于速度控制的转矩分配控制策略和基于转矩的多目标优化动态转向稳定性控制策略。通过仿真和实验，验证了稳定性控制方法的可行性，获得了双侧电机最优的力矩分配规则。为分布式电驱动履带车辆的转向稳定性控制和无人履带车辆的路径跟踪控制方法，提供了理论依据和试验方法。