CAJ | 학술논문

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。
전동륜자사차재좌우부착계수불동적로면진행긴급제동시，회산생간우횡파력구，도치자사차측활포편。위차，제출료일충기우횡파력구공제적전동륜자사차제동력분배책략，해책략채용삼수모호자정정PID공제기，근거횡파각속도편차치분별조정제동시자사차좌륜화우륜적활이솔，자동분배좌륜화우륜적제동력래직접실현횡파력구공제。방진분석결과표명：계통능구흔호지실현전동륜자사차제동력적합리분배；채용제동력분배책략후，최대측활거리종8.9 m감소위0.72 m。
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 0.72m.