| Tracked chassis vehicles are widely used in military and emergency rescue fields for virtue of their own advantages.Compared with wheeled vehicles,tracked vehicles have better adaptability and passability to complex terrain and stronger climbing ability.high-speed tracked vehicles have high mobility and can play an important role in specific occasions,especially in the field of forest fire prevention.In recent years,the development of special crawler forest fire isolation belt opening machine has become a trend.Affected by factors such as complex terrain and external disturbances,tracked vehicles are prone to displacement during the driving process,making it more difficult to control accurately,and even causing safety accidents.The drive system is one of the core elements of the tracked vehicle,and a good drive system will improve the maneuverability of the tracked vehicle.The paper focuses on the research status of typical crawler vehicle walking control at home and abroad first,and the analysis shows that the main research at home and abroad focuses on the walking control of high-speed tracked vehicles by electric drive.But there are relatively few tracked chassis related controls for high-speed hydrostatic closed hydraulic systems,especially in China,and there are fewer domestic studies on the synchronous control of such chassis.Although there are such tracked chassis imported from abroad,its core technology is not fully mastered.Therefore,this paper conducts a study on the synchronous control of this type of chassis.In view of this,this paper takes the forest fire isolation belt of the closed hydrostatic drive system as the research object.It is of great significance to improve the synchronization performance and maneuverability of the isolation belt opening machine through a reasonable synchronous control strategy,and has very high social benefits.This paper establishes a mathematical model of the main hydraulic components of the drive system according to the hydraulic schematic diagram of the machine drive system opened by the forest fire isolation belt.Then,the principles of fuzzy adaptive PID and classical PID control algorithm are compared,and the design of fuzzy controller is elaborated,and matlab/Simulink is used to establish a control algorithm simulation model analysis for the unilateral drive system,and found out that the fuzzy adaptive PID control algorithm has a significant effect.Then,the simulation analysis of fuzzy adaptive PID synchronous control algorithm is carried out on the bilateral drive system by using three synchronous control methods of parallel,master-slave and cross-coupling,and the simulation results showed that the cross-coupling fuzzy adaptive PID synchronous control strategy had good results,which provides a theoretical basis for the synchronous control of the isolation belt opening machine.Finally,according to the driving system characteristics of the track chassis of the forest fire isolation belt,the hardware equipment required for the control verification test of the drive system is determined,and the cross-coupling fuzzy adaptive PID synchronous control algorithm is implemented in the Codesys programming software.After completing the preliminary preparations,the cross-coupling synchronous control algorithm of the tracked vehicle drive system was tested and verified,and in order to effectively verify the effectiveness of the algorithm,different off-road speed tests such as 10km/h,15km/h,and 20km/h were carried out.The experimental data shows that under high-speed driving,the cross-coupling fuzzy adaptive PID synchronous control algorithm significantly reduces the offset of the vehicle’s straight-line driving,and its offset rate is reduced to less than 2%,and the test results show that the synchronous control effect of the cross-coupling fuzzy adaptive PID synchronous control algorithm for the high-speed track chassis is better,and the accurate walking control can be effectively realized for the forest fireproof isolation belt using this type of chassis. |
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