| Distributed electric drive vehicles have become one of the hot spots of national defense research due to their flexible structural design and strong maneuverability,providing more advanced technical support for the improvement of military combat capability and modern equipment construction.In order to further improve the dynamic performance of the distributed electric drive vehicle under extreme road conditions,this paper takes the 6×6 distributed electric drive vehicle equipped with a teeth-embedded electromagnetic clutch as the research object,and specifically studies the drive anti-skid control in the longitudinal dynamic control of the vehicle,including road perception and the design of the control strategy of the teeth-embedded electromagnetic clutch.The dynamic coupling of multiple execution units of distributed electric drive vehicle is fully utilized to further improve the dynamic performance of vehicle under extreme road conditions.Firstly,the control system and execution system of the teeth-embedded electromagnetic clutch are studied,the working principle of the teeth-embedded electromagnetic clutch is analyzed,the control strategy of the teeth-embedded electromagnetic clutch is designed,and the modeling is completed in Stateflow.At the same time,the equivalent driving circuit model of the electromagnetic clutch is built.Secondly,a 19 degree of freedom dynamic model of a 6×6 distributed electric drive vehicle was established,including the vehicle body model,wheel motion model,tire model,suspension model,steering model and drive motor model.Under the appropriate simplified conditions,the accuracy of the model is guaranteed,and the kinematics analysis of the vehicle is carried out.Finally,the model of each subsystem is built in Simulink,and the whole vehicle simulation model of distributed electric drive is formed together with the electromagnetic clutch model.Finally,taking the optimal slip rate as the control objective,a pavement recognition system was designed based on the relationship curve,which could identify the optimal slip rate under the pavement with different adhesion coefficients.And a fuzzy PID controller is designed.Taking the difference between the optimal slip rate and the actual slip rate and the change rate of the difference as the twodimensional input of the fuzzy controller,the three control parameters of PID are adjusted in real time to realize the dynamic control of the toothed electromagnetic clutch.At the same time,the vehicle dynamics simulation was carried out in three working conditions,and the comparison analysis was carried out with the uninstalled tear-embedded electromagnetic clutch.The simulation results showed that the dynamic coupling function of the tear-embedded electromagnetic clutch significantly improved the dynamic performance of the distributed electric drive vehicle,especially in the case of a large gap between the left and right side of the road adhesion coefficient,the control effect was more significant.The fast response of the toothed electromagnetic clutch can control the wheel slip rate near the optimal slip rate and fully improve the longitudinal dynamic performance of the vehicle. |
PDF Full Text Request