为了提升履带车辆的制动性能,以某电传动履带车辆为研究对象,分析了其制动工况下的动力学/运动学方程,建立了车辆动力学模型.以车辆制动滑移为控制对象,建立了模糊-PID平滑切换控制策略,通过半实物仿真验证了该策略相较于其他几种控制方法的优点.在低附路面、低附- 高附对接路面两种路况下进行了半实物仿真,仿真结果表明模糊-PID平滑切换控制策略可以快速有效抑制履带滑移过大的情况,提高车辆制动性能与安全性,降低车辆制动系统负荷,为后续制动系统转矩分配策略的研究奠定基础.%For high -speed and overloaded tracked vehicle, dynamic model based on virtual prototyping is built while analyzing dynamic and kinetic equations in brake condition. As a method for controlling slip, fuzzy-PID controller with smooth-switch is used and compared with some other controller via simulation. The results show that fuzzy-PID controller with smooth-switch has a better performance. Then simulations on four pavements, including low adhesion, low-high adhesion, are done. Results indicate that overshoot of slip can be depressed quickly and efficiently by the proposed controller. The braking and safety performances of vehicle are improved and load of brake system is reduced.
展开▼
