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電子差速履帶車輛轉(zhuǎn)向轉(zhuǎn)矩神經(jīng)網(wǎng)絡(luò)PID控
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Networks PID Control of Steering Torque for Electronic Differential Tracked Vehicle
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    摘要:

    根據(jù)電子差速履帶車輛轉(zhuǎn)向動(dòng)力學(xué)和運(yùn)動(dòng)學(xué)分析,，提出一種電子差速履帶車輛轉(zhuǎn)向轉(zhuǎn)矩模擬神經(jīng)網(wǎng)絡(luò)PID（ANNPID）控制策略,，由雙電動(dòng)機(jī)轉(zhuǎn)向轉(zhuǎn)矩協(xié)調(diào)控制,、ANNPID控制和感應(yīng)電動(dòng)機(jī)轉(zhuǎn)矩控制組成,。通過(guò)建立雙感應(yīng)電動(dòng)機(jī)獨(dú)立驅(qū)動(dòng)履帶車輛電子差速轉(zhuǎn)向控制系統(tǒng)，實(shí)現(xiàn)基于ANNPID控制的轉(zhuǎn)向轉(zhuǎn)矩協(xié)調(diào)分配和基于模型參考自適應(yīng)控制（MRAC）的感應(yīng)電動(dòng)機(jī)間接磁場(chǎng)定向（IFOC）轉(zhuǎn)矩控制,。采用該策略,，在不同轉(zhuǎn)向半徑的行駛轉(zhuǎn)向工況、0.5B半徑轉(zhuǎn)向工況和中心轉(zhuǎn)向工況下的實(shí)車試驗(yàn)結(jié)果表明,，低速轉(zhuǎn)向具有較好的操控性能,。

    Abstract:

    According to kinematics and dynamics of tracked vehicle, an analog neural networks PID (ANNPID) control strategy of steering torque for electronic differential tracked vehicle was proposed. The ANNPID control strategy consisted of integrated torque control of two motors, ANNPID control and torque control of an induction motor. A steering control system scheme of electronic differential tracked vehicle with dual induction motors and independent driven was established to achieve torque distribution between two motors based on ANNPID and indirect rotor field oriented （IFOC）torque control of induction motor based on model reference adaptive control（MRAC）. Experimental results of dual motors for running steering with different steering radius, 0.5B radius steering and center steering situation showed the effectiveness of the strategy，and indicated that electronic differential tracked vehicle in low-speed has good steering maneuverability.

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翟麗,孫逢春,谷中麗.電子差速履帶車輛轉(zhuǎn)向轉(zhuǎn)矩神經(jīng)網(wǎng)絡(luò)PID控[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2009,40(2):1-5. Networks PID Control of Steering Torque for Electronic Differential Tracked Vehicle[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(2):1-5.

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