双侧电驱动履带车辆运动解耦与变结构控制

Motion decoupling and variable structure control of dual-motor electric drive tracked vehicle

中文关键词  履带车辆  电驱动  运动控制  非线性积分滑模  模糊自适应滑模

英文关键词  tracked vehicle  electric drive  motion control  nonlinear integral sliding mode control  fuzzy adaptive sliding mode control

中文摘要

      针对双侧电驱动履带车辆运动控制强非线性、强耦合和不确定性的特点, 提出一种解耦的控制结构, 并设计各子系统控制器. 首先, 将运动控制系统分解为速度、横摆角速度两个独立子系统, 克服传统差速控制存在的强耦合. 其次, 采用积分滑模控制方法, 引入非线性积分滑模面, 设计了能有效克服路面不确定扰动、消除积分饱和的 速度控制器, 实现车速的无超调、无静差的跟踪; 考虑驱动电机饱和约束, 结合模糊自适应与滑模控制算法, 设计了能够适应转向阻力非线性变化的横摆角速度控制器, 提高车辆转向运动控制的抗扰能力、降低控制量抖振. 仿真结果表明, 控制策略实现多种工况下车辆快速、准确的直线、转向运动控制.

英文摘要

      The motion of dual-motor electric drive tracked vehicle is strong nonlinear, coupled and uncertain. To control this motion, we propose a decoupling control structure, and design controller for each subsystem. Firstly, the whole control system is resolved into two independent subsystems — the velocity control subsystem and the yaw rate control subsystem to eliminate the strong coupling existing in the traditional differential velocity control system. Secondly, by applying the integral sliding-mode control method and introducing the nonlinear integral sliding-mode surface, we develop a velocity controller to reduce the integration saturation and effectively reject the disturbances from the unsmooth road surface, thus realizing the velocity tracking with non-overshoot and non-steady state error. By considering motor saturation constrains, we combine the fuzzy adaptive control low and the sliding-mode control algorithm was to design the yaw rate control law which can adapt the nonlinear variation of resistive coefficient, reject disturbance and decrease chattering. Simulation result demonstrate that both longitudinal and steer motions can be controlled rapidly and precisely by this control strategy, realizing vehicle smooth motion in various conditions.