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为实现多轮独立驱动装甲车辆行驶稳定性控制,提出了1种基于G向量控制的驱动力控制方法,利用车辆的横向加速度信息对车辆的总驱动力矩进行了修正。基于2自由度车辆模型,从负载转移和纵向驱动力影响的角度分析了该稳定性控制方法的理论依据。基于人在环实时仿真系统进行了8×8轮毂电机驱动装甲车辆实时仿真实验,对该稳定性控制算法进行了验证,仿真结果表明:该控制方法能够有效增强对车辆横向运动的控制能力,提高车辆行驶稳定性。
In order to realize the control of driving stability of multiple independent driven armored vehicles, a driving force control method based on G vector control is proposed. The total driving torque of the vehicle is corrected by using the lateral acceleration information of the vehicle. Based on the 2-DOF vehicle model, the theoretical basis of the stability control method is analyzed from the perspective of load transfer and longitudinal driving force. The real-time simulation experiment of 8 × 8 hub motor driven armored vehicle is carried out based on human-ring real-time simulation system, and the stability control algorithm is verified. The simulation results show that the control method can effectively enhance the control ability of the vehicle lateral motion, Vehicle driving stability.