电驱动履带车辆带约束广义预测速度控制

摘要

电传动履带车辆存在的参数非线性时变性强、惯量大，路面阻力容易受强扰动等特点，采用传统的PI控制容易产生较大的超调，降低暂态控制性能，传统的滑模控制算法难以克服常值扰动，消除稳态误差，易引起输出量剧烈抖振。针对上述问题，设计了广义预测速度控制器，结合电机饱和特性，对控制量进行了约束。仿真实验表明，所设计的控制算法能够克服系统参数非线性时变、路面扰动因素的影响，且跟踪准、响应快、超调小。%The velocity control of electrical drive tracked vehicle has characters of time-vary nonlinear parameters,large inertia and strong road disturbance. So the traditional PI control may lead obvious overshoot which will decrease transient performance,and SMC could not eliminate track error brought by stable disturbance and may lead significant chattering. To overcome those problems, generalized predictive velocity controller is developed which’s control output is constrained considering motor saturation and drive efficiency. Simulation results demonstrated that control algorithm is robust to time-vary nonlinear parameters and road disturbance,and could track target value rapidly and precisely with little overshoot.