| 基于横摆力矩控制的电动轮自卸车制动力分配策略 |
| |
| 引用本文： | 李 勇,凌 云,罗树英.基于横摆力矩控制的电动轮自卸车制动力分配策略[J].湖南工业大学学报,2015,29(2):84-88. |
| |
| 作者姓名： | 李 勇 凌 云 罗树英 |
| |
| 作者单位： | 湖南工业大学 电气与信息工程学院,湖南工业大学 电气与信息工程学院,湖南工业大学 电气与信息工程学院 |
| |
| 基金项目： | 湖南省自然科学基金资助项目（13JJ9016） |
| |
| 摘 要： | 电动轮自卸车在左右附着系数不同的路面进行紧急制动时,会产生干扰横摆力矩,导致自卸车侧滑跑偏。为此,提出了一种基于横摆力矩控制的电动轮自卸车制动力分配策略,该策略采用参数模糊自整定PID控制器,根据横摆角速度偏差值分别调整制动时自卸车左轮和右轮的滑移率,自动分配左轮和右轮的制动力来直接实现横摆力矩控制。仿真分析结果表明:系统能够很好地实现电动轮自卸车制动力的合理分配;采用制动力分配策略后,最大侧滑距离从8.9 m减小为0.72 m。
|
| 关 键 词： | 电动轮自卸车 制动力分配 横摆力矩 模糊自整定 |
| 收稿时间： | 2015/1/20 0:00:00 |
EBD Strategy of Motorized Wheel Dump Truck Based on Yaw Moment Control |
| |
| Li Yong,Ling Yun and Luo Shuying.EBD Strategy of Motorized Wheel Dump Truck Based on Yaw Moment Control[J].Journal of Hnnnan University of Technology,2015,29(2):84-88. |
| |
| Authors: | Li Yong Ling Yun and Luo Shuying |
| |
| Affiliation: | Li Yong;Ling Yun;Luo Shuying;School of Electrical and Information Engineering,Hunan University of Technology; |
| |
| Abstract: | During the emergency braking on the road with different left and right adhesion coefficients, the motorized wheel dump truck will emerge interferential yaw moment, leading to the dump truck side slip and deflection. Therefore, puts forward a kind of EBD(electronic brake force distribution) strategy of motorized wheel dump truck based on yaw moment control. The strategy adopts the parameter fuzzy self-tuning PID controller which can adjust the slip ratios of the left and right wheels of the dump truck respectively during the emergency braking according to the yaw velocity deviation value and realize the direct yaw moment control by the automatic brake force distribution of the left and right wheels. Simulation analysis shows that the system realizes the reasonable brake force distribution of the motorized wheel dump truck, and the maximum side slip distance decreases from 8.9 m to 0.72 m. |
| |
| Keywords: | |
| 本文献已被 CNKI 等数据库收录！ |
| 点击此处可从《湖南工业大学学报》浏览原始摘要信息 |
|
点击此处可从《湖南工业大学学报》下载全文 |
|
