电传动履带率辆横坡直驶控制策略研究

推导了横坡直驶动力学模型、预测及控制模型。在对驾驶意图及车辆运动状态识别分析的基础上，对比传统履带横坡直驶控制，提出了一套全新的电传动履带车辆横坡平稳直驶控制思路和方法。针对不同路面变化、不同行驶速度变化的横坡工况，利用Matlab/Simulink软件对电传动履带车辆横坡平稳直驶控制系统进行了建模与仿真。验证了所建立的模型和所采用的横坡平稳直驶控制策略，并得出了不同工况下的仿真结果。

Straight-line Running Control for Electric Drive Tracked Vehicles on Transverse Slopes

The dynamic model, the predictive model and the control model of electric drive tracked ve?hicles were derived. Based on the identification of driving intention of driver and moving states of the vehicles and comparing with traditional tracked vehicles, a new straight-line running predictive control strategy for electric drive tracked vehicles was proposed. In accordance witn transverse slope angles and variations of different roads and speeds, a straight-line running control system of vehicles was modeled and simulated by using Matlab/Simuimk. The simulation results were obtained at different conditions. The results proved the models and the predictive control strategy to be correct.