Research On Synchronization Control Strategy Of Double Pump Driving Motor System In Tracked Vehicle

Tracked vehicle is widely applicated with its own advantage. As the core components of hydrostatic transmission of tracked vehicle, the variable pump driving variable motor plays a key role in the mobility of tracked vehicle. This paper studied tracked vehicle hydrostatic transmission and made the theoretical analysis of straight working conditions. Mathematical model was built to analyze parameters disturbance on synchronization of the bilateral pump driving motor, and controller was designed to improve the following and disturbance rejection performance of the system.Based on the principle of speed feedback, the system has been divided into four sub-modules. Based on the principle of hydraulic control system, the module of variable pump driving variable motor system was established. Tracked vehicle motion module and anti-solver module was built based on tracked vehicle dynamics. To improve the system response performance, the control module is divided into the basic equilibrium point and controller. A custom function that determines the nominal operating point of the system was written. Matlab/Simulink is used to establish time domain model and simulate, observing the following and disturbance rejection performance of the system without superimposed control conditions.Interference factors of hydrostatic drive tracked vehicle system were analyzed. For straight condition, this paper made quantitative research in the tim e domain model and determined the main factors of the interference were ground friction coefficient, leakage coefficient and displacement accuracy. With the above mentioned factors as disturbance variables, the time domain model is linearized and an incremental model was established to research system features.For the system of strong coupling characteristics, analysis of the decoupling is made.The system is corrected with lag lead controller.The controller was used in the parallel synchronous circuit, follow synchronous circuit and cross-coupled control loop. The results showed that the cross-coupling circuit improved disturbance rejection performance best. However, it reduced the following performance of the system. For the features that track vehicles ha s strong interference and cross-coupled when driving, Active Disturbance Rejection Control(ADRC) strategy was proposed and ADRC controller was designed. By simulation, ADRC controller had better effect in interference. It reduced the accuracy requirement of the model and have better adaptability to time-varying systems.