基于模型参考自适应控制的四轮独立驱动技术研究

摘要

为了提高四轮独立车辆的性能，在恒压网络二次调节的基础上提出了模型参考自适应控制的四轮独立驱动技术。介绍了二次调节静液传动的系统结构模型以及四轮独立驱动的原理。建立了恒压调速系统数学模型，并针对二次调节静液传动系统存在建模不准确、系统压力波动、外负载干扰等缺点，采用模型参考自适应建立了恒压调速控制系统。通过MATLAB对系统进行仿真分析，由仿真结果可知：基于模型参考自适应控制的液压四轮驱动方案具有良好的控制效果，在不同形式的外负载干扰情况下该控制方案具有很好的适应性和抗外干扰能力。%In order to improve the performance of the four wheel independent vehicles , four independent drive technology based on the model reference adaptive control was proposed .The system structure model and the principle of four wheel independent drive were introduced .The mathematical model of constant pressure and speed control system was established , and the model reference adap-tive system was used to establish the constant pressure speed control system based on the hydrotatic transmission system in secondary regulation.With the aid of MATLAB, the simulation results show that the model reference adaptive control hydraulic four wheel drive scheme has good control effect .The control scheme has good adaptability and anti-interference ability under different forms of external load disturbance .