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为验证轮毂电机驱动装甲车辆控制方案的可行性,在仿真系统中引入真实的驾驶员操纵输入,构建了“驾驶员-综合控制器-电机驱动系统-车辆动力学”整车闭环控制系统,并建立了基于横摆转矩控制的轮毂电机驱动装甲车辆控制模型,实现了各驱动电机驱动转矩的合理分配。采用真实的车辆综合控制器,与RT-LAB仿真平台中建立的驱动电机模型和Vortex仿真平台构建的车辆动力学仿真系统共同组成“驾驶员-综合控制器”在环实时仿真系统,并在此基础上开展了真实驾驶员操控下整车动力性能实时仿真,验证了实车综合控制器控制算法的可靠性,同时分析了车辆动力性能。
In order to verify the feasibility of the hub motor driven armored vehicle control scheme, the real driver control input is introduced into the simulation system to build the “driver-integrated controller-motor drive system-vehicle dynamics” vehicle closed-loop control system The control model of the hub motor driving armored vehicle based on yaw torque control is established, and the reasonable driving torque distribution of each driving motor is achieved. The real vehicle integrated controller is combined with the vehicle dynamics simulation system built by RT-LAB simulation platform and Vortex simulation platform to form the “driver-integrated controller” real-time simulation system in the loop. On this basis, real-time simulation of vehicle dynamic performance under real driver’s control is carried out, the reliability of the control algorithm of real vehicle integrated controller is verified, and the vehicle dynamic performance is also analyzed.