Longitudinal Speed Control Of An Unmanned Tracked Vehicle Based On Axis-fixed Transmission Gearbox

In the foreseeable future ground combat,unmanned vehicles will become an important part of informatization equipment system,an important means to reduce casualties and improve the ability of tactical precision guarantee.Because of its strong ability to climb obstructions,tracked vehicle has become the backbone of army equipment.The significance of studying unmanned tracked vehicle not only embodies in contains the core of the scientific problems,and also reflect on its important application prospect and strategic value.Therefore,this topic is based on ‘the unmanned tracked vehicle technology experiment platform of BIT’,majors in the following research:(1)Through the analysis of full speed electronic diesel engine(especially the target speed response function),the composition and working principle of AMT system,the integration of power transmission and the vehicle dynamics,we have a full understanding of this type of tracked vehicle and put forward the reasonable transformation ideas of unmanned vehicle.(2)Based on the reference program of a certain type of wheeled vehicles,the AMT control program has been transplanted.Furthermore,according to the higer real-time requirement,the AMT control program architecture has been optimized from two aspects of driver layer and application layer: TouCAN module’s data reception mode has been optimized from query mode to interrupt mode;single thread software architecture has been optimized based on the multi-thread thought.(3)According to the basic configuration of ‘the unmanned tracked vehicle technology experiment platform of BIT’,and in consideration of the premise of the real-time performance and reliability of the data transmission,the longitudinal velocity control network has been constructed.And then,based on the ‘shift schedule under the condition of the unmanned’,the interfaces of longitudinal velocity control part of vehicle controller and AMT system have been designed.(4)There are two stages of real vehicle test.In the first stage,the consistency of the response of accelerator pedal signal and ‘target speed response’ function and optimization of shift quality have been tested,which ensure the success rate and comfort,thus laid g good foundation;In the second stage,as the replacement of previous PC,‘the remote pilot’ has been introduced and the longitudinal velocity control test has been performed,which verified the feasibility of longitudinal velocity control interface...