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针对电传动履带车采用的差速电传动方案,对电传动履带车辆的整车行驶控制策略进行了研究,提出了基于模糊建模的差速控制方案。基于CAN总线技术与整车动力学模型,对整车控制器进行了定性和定量的分析,CAN总线实现与电机控制器的信息交互,构建设计了基于CAN总线的分布式控制系统,有效地优化了系统控制体系结构,提高了系统的控制性能和可靠性。对驱动电机采用了电流矢量控制控制方法;并对具体的控制途径进行了描述。最后,对车辆转速的动态过程进行了试验。结果表明,该控制方案可行并可以使车辆具有良好的转速性能。
Aiming at the differential electric drive scheme used in electric drive tracked vehicle, the control strategy of vehicle driving on electric drive tracked vehicle is studied. A differential control scheme based on fuzzy modeling is proposed. Based on the CAN bus technology and the vehicle dynamics model, the vehicle controller is qualitatively and quantitatively analyzed. The CAN bus realizes the information exchange with the motor controller. The distributed control system based on CAN bus is designed and optimized to effectively optimize The system control architecture, improve the system’s control performance and reliability. The control method of the current vector control is adopted for the driving motor; and the concrete control way is described. Finally, the dynamic process of vehicle speed was tested. The results show that the control scheme is feasible and can make the vehicle have a good speed performance.