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为克服传统电传动车辆驱动防滑仿真只侧重机械或者电气特性的缺点,提出了跨平台机电联合建模与仿真的方法。以某型8×8车辆为研究对象,在ADAMS中建立车辆模型,在Matlab中建立基于滑转率PI控制的防滑控制器模型,采用低附着路面加速行驶和过垂直障碍2种仿真工况进行防滑控制联合仿真试验,试验结果验证了该方法的有效性,从而为研究电传动轮式车辆的防滑控制提供了一条新的思路。
In order to overcome the shortcomings that traditional electric drive vehicle drive anti-skid simulation only focuses on the mechanical or electrical characteristics, a cross-platform electromechanical modeling and simulation method is proposed. Taking an 8 × 8 vehicle as an example, a vehicle model was established in ADAMS and a skid control model based on slip PI control was established in Matlab. Two kinds of simulation conditions were adopted, including low attachment road surface acceleration and over-vertical obstacles The anti-slip control joint simulation test, the test results verify the effectiveness of the method, which provides a new idea for the study of non-slip control of electric drive wheeled vehicles.