摘要
为解决高速履带车辆静液驱动转向行驶控制问题,在对静液驱动履带车辆转向行驶理论分析基础上,得到了考虑转向安全性和系统最高承受压力影响的车速与相对转向半径间的相互制约关系。设计了高速履带车辆静液驱动转向控制策略,该转向控制策略由综合转向控制单元和泵、马达排量控制器相互配合实现。运用Matlab/Simulink软件对系统进行转向控制仿真分析,仿真结果表明该转向控制策略可在满足系统压力限制以及保证车辆不侧滑的条件下自动降低平均车速以保证驾驶员期望转向半径的准确实现。
teering control was the principal problem and technological challenge for hydrostatic drive tracked vehicle.Considering steering safety and maximum system pressure limitation,the relative steering ratio dependence of the speed was discussed based on the analysis of steering kinematics and dynamics.A steering dynamic system model was developed by Simulink of Matlab,and steering control strategy for tracked vehicle with hydrostatic drive was also designed.This steering control strategy can preferentially achieve the driver＇s expected steering radius exactly by reducing average vehicle speed in the case of not exceeding the system pressure threshold and no sideslip.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2010年第6期14-19,共6页
Transactions of the Chinese Society for Agricultural Machinery
基金
国防预先研究支撑项目(62301030303)
高等学校学科创新引智计划资助项目(B08043)
关键词
履带车辆
静液驱动
转向
控制策略
Tracked vehicle
Hydrostatic drive
Steering
Control strategy
作者简介
作者简介：杨磊，博士生，主要从事车辆静液传动控制技术研究，E-mail：yangleisnr@gmail．com
