摘要
为了在系统设计阶段及早验证控制方案可行性,把“驾驶员—综合控制器”纳入电传动履带车辆双侧驱动控制仿真闭环,建立双侧驱动电传动履带车辆及驱动系统模型。采用真实的驾驶员操纵设备和产品型综合控制器,不同控制策略使用不同CAN通讯协议匹配,被控对象及其外界环境通过数学模型在dSPACE中实时运算来模拟实现,构建包括CAN通讯在内的电传动履带车辆“驾驶员—综合控制器”在环双侧驱动控制实时仿真平台。基于该平台展开以驾驶员操作为输入的硬件在环仿真。仿真结果表明:该平台能进一步验证产品型综合控制器动力学控制算法代码,分析评估不同控制策略下车辆的机动性能。
To validate the feasibility of control scheme in the initial process of system design, driver and global controller is combined into simulation loop of electric tracked vehicle＇s dual-motor driving control. Dual-motor driving electric tracked vehicle and its drive system is modeled. Real driver＇s input devices and global controller are applied. Different CAN protocols are matched with different control strategies. Controlled object and its plant are simulated based on its mathematic model by real-time computation in dSPACE. The real-time simulation platform of electric tracked vehicle＇s dual-motor driving control with driver, global controller and CAN in-loop is built up. Real-time simulation with the input of driver＇s operates is performed based on the platform. Simulation results show the real global controller＇s algorithm and software code are verified and the maneuverability with different control strategy is analyzed and evaluated rapidly based on the simulation platform.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2007年第3期193-198,共6页
Journal of Mechanical Engineering
基金
国防'十五'预研资助项目。
关键词
电传动
履带车辆
驱动控制
实时仿真
Electric drive
Tracked vehicle
Drive control
Real-time simulation
作者简介
邹渊，男，1976年出生，讲师。主要研究方向为车辆电传动。E—mail：zouyuan@china.com.cn
孙逢春，男，1958年出生，教授，博士研究生导师。主要研究方向为电动汽车、车辆电传动。E—mail：sunfch@bit.edu.cn
张承宁，男，1963年出生，教授，博士研究生导师。主要研究方向为电动汽车、车辆电传动。E—mail：zhangchn@vip.sina.tom
