Electromechanical Coupling Dynamic Analysis And Trajectory Tracking Control Technology Study Of Tracked Vehicles

Supported by the National Natural Science Foundation of China(Grant No.51775225),the electromechanical coupling dynamic characteristics and trajectory tracking control technology of the electric tracked vehicles were studied.The electromechanical coupling dynamic model of the tracked vehicle was established,based on which the PWM variable frequency speed regulation characteristics of the tracked vehicle were analyzed.The trajectory tracking control algorithm of the tracked vehicle was designed based on the model predictive control,simulations and experiments were carried out to validate the control algorithm.The literature on the electromechanical coupling dynamics,motion control technology of tracked vehicles and model predictive control(MPC)technology were introduced in the first place.Based on the kinematic and dynamic model of the tracked vehicle and the dynamic model of the induction motor,the electromechanical coupling dynamic model of the tracked vehicle was established.Combined with the dynamic model of the induction motor and SPWM variable frequency speed regulation technology,the general and SPWM dynamic characteristics of the induction motor were analyzed and compared with its steady-state speed-torque characteristics,which laid a foundation for the electromechanical coupling analysis of the tracked vehicle.Based on the electromechanical coupling dynamic model,the dynamic characteristics of the tracked vehicle under the circumstances of straight driving,turning driving and turning on the spot on flat roads were analyzed and compared with the steady-state process.The results indicate that the electromechanical coupling dynamic model has a better precision.The basic algorithm,parameter tuning and stability analysis of model predictive control were introduced based on state space model of the linear system.Based on the linearized kinematic model of tracked vehicles,the kinematic and dynamic trajectory tracking predictive controllers for tracked vehicles were designed respectively.The trajectory tracking simulation of three trajectories of a straight line,an arc and a spiral were carried out respectively.The results show that the predictive controllers based on the linear kinematic model can achieve trajectory tracking task precisely.The experiment device and predictive control system of the tracked vehicle based on visual recognition and Kalman filter were designed and the Matlab and LabView programs were written.The tracking experiments of two straight line trajectories were carried out to verify the effectiveness of the trajectory tracking control algorithm.In this paper,the electromechanical coupling dynamic model of tracked vehicles was established,the dynamic characteristics of straight line and steering circumstances of tracked vehicles were analyzed and the trajectory tracking control algorithm based on model predictive control was designed,which provides a reference for improving the automation level of tracked vehicles.