双电机耦合驱动履带车辆自适应滑模转向控制

针对双电机耦合驱动履带车辆转向动力学模型具有多输入多输出(MIMO)、非线性且参数不确定的特点,对系统进行解耦,分解为车速控制系统和转向角速度控制系统。在车速控制系统中为实现车速跟踪误差的收敛,根据期望车速与当前速度信息,提出了鲁棒滑模变结构控制算法;在转向角速度控制系统中,提出了针对转向角速度的模糊滑模自适应控制算法。通过"驾驶员—控制器"在环的双电机耦合驱动履带车辆实时仿真系统,对控制算法进行了仿真实验验证,证明了该控制算法的有效性。

Adaptive Sliding Mode Steering Control of Double Motor Coupling Drive Transmission for Tracked Vehicle

Steering dynamic model of double motor coupling drive transmission for tracked vehicle has the features of MIMO, parameter-uncertainty and nonlinearity. The steering system is transformed into a forward speed control subsystem and a steering speed control subsystem by dynamic decoupling control algorithm.For the forward speed control subsystem, a robustness sliding mode control algorithm is proposed to converge the speed errors based on the desired speed and the current speed. For the steering speed control subsystem, a steering speed control algorithm is designed based on the fuzzy adaptive sliding-mode algorithm to ensure the tracking control of the reference steering speed. The steering tracking control is verified by real-time simulation system.The results show that the proposed control algorithm is effective.