CAJ | 학술논문

为了提高轮毂电机驱动装甲车辆转向的灵活性及越野机动性能，借鉴履带车辆滑移转向思想，采用双重转向控制策略。以车辆的横摆角速度为控制目标，设计了自抗扰控制器，通过调整两侧轮毂电机转矩输出产生直接横摆力矩，进而调节车辆横摆角速度，实现装甲车辆双重转向。在Adams中建立车辆动力学模型的基础上，构建Adams与Matlab环境中的联合仿真模型，并进行了联合仿真，结果表明，基于直接横摆力矩控制的双重转向增大了外侧动力输出，减小了车辆在中低速转向时转向半径，提高了车辆的转向性能。
위료제고륜곡전궤구동장갑차량전향적령활성급월야궤동성능，차감리대차량활이전향사상，채용쌍중전향공제책략。이차량적횡파각속도위공제목표，설계료자항우공제기，통과조정량측륜곡전궤전구수출산생직접횡파력구，진이조절차량횡파각속도，실현장갑차량쌍중전향。재Adams중건립차량동역학모형적기출상，구건Adams여Matlab배경중적연합방진모형，병진행료연합방진，결과표명，기우직접횡파력구공제적쌍중전향증대료외측동력수출，감소료차량재중저속전향시전향반경，제고료차량적전향성능。
To improve the steering agility and off-road mobility of multi-in-wheel motors drive armored wheeled vehicle,the dual-steering control is adopted corresponding to the tracked vehicle steering way. The target of control system is the vehicle yaw rate,and active disturbance rejection controller is designed. Yaw moment torque is produced by adjusting the both sides of the in-wheel motor torque output to achieve the target of reference yaw rate. The vehicle kinetics model is built in the Adams,and the co-simulation model is designed base on the Adams and Matlab. At last co-simulation is carried out. The results of simulation demonstrate that the dual-steering control increased the vehicle outboard power output and decreased the steering radius. The method could improve the steering performance.