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履帶車輛試驗(yàn)臺建模與控制方法
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國家自然科學(xué)基金資助項(xiàng)目（51005104）


Test Bed Modeling and Control Method for Track Vehicle
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    摘要:

    基于實(shí)際路面工況與試驗(yàn)臺結(jié)構(gòu)建立了以主動(dòng)輪受力為輸入、主動(dòng)輪角加速度為輸出的履帶車輛動(dòng)力學(xué)模型，推導(dǎo)了履帶車輛整車等效到主動(dòng)輪慣量；辨識了試驗(yàn)臺系統(tǒng)傳遞函數(shù)，提出了速度跟蹤結(jié)合單邊速度閉環(huán)扭矩雙邊加載的控制方法實(shí)現(xiàn)負(fù)載模擬。設(shè)計(jì)此控制方法的臺架系統(tǒng)試驗(yàn)結(jié)果表明在換擋、爬坡過程中車輛速度無跳動(dòng)或較大波動(dòng)，輸出扭矩變化符合實(shí)際路面工況，并有較高的負(fù)載模擬精度；證明了此控制方法在履帶車輛臺架試驗(yàn)負(fù)載模擬中的有效性和精確性。

    Abstract:

    Taking the driving wheel force as input and driving wheel angular acceleration as output, the kinemics model of track vehicle was built and the whole vehicle was equaled to wheel inertia based on actual pavement condition and test platform structure. Transmission function of test bed was recognized. The strategy of speed track, combined with single side speed closed-loop and both sides loaded control, was proposed. Test results showed that there was no abrupt change in speed during shift and slope process. The change of output torque was accord with actual road situation. The proposed method was proved to be valid and precisions in vehicle test.

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楊家軍,周曉軍,魏燕定,宮燃.履帶車輛試驗(yàn)臺建模與控制方法[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2013,44(6):8-13. Yang Jiajun, Zhou Xiaojun,Wei Yanding, Gong Ran. Test Bed Modeling and Control Method for Track Vehicle[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(6):8-13.

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  • 在線發(fā)布日期: 2013-05-28
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