| 电子差速履带车辆转向转矩神经网络PID控制 |
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| 引用本文： | 翟丽,孙逢春,谷中丽.电子差速履带车辆转向转矩神经网络PID控制[J].农业机械学报,2009,40(2). |
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| 作者姓名： | 翟丽 孙逢春 谷中丽 |
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| 作者单位： | 北京理工大学机械与车辆工程学院,北京,100081 |
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| 基金项目： | 国家部委预研项目，国家高技术研究发展计划(863计划) |
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| 摘 要： | 根据电子差速履带车辆转向动力学和运动学分析,提出一种电子差速履带车辆转向转矩模拟神经网络PID(ANNPID)控制策略,由双电动机转向转矩协调控制、ANNPID控制和感应电动机转矩控制组成.通过建立双感应电动机独立驱动履带车辆电子差速转向控制系统,实现基于ANNPID控制的转向转矩协调分配和基于模型参考自适应控制(MRAC)的感应电动机间接磁场定向(IFOC)转矩控制.采用该策略,在不同转向半径的行驶转向工况、0.5B半径转向工况和中心转向工况下的实车试验结果表明,低速转向具有较好的操控性能.
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| 关 键 词： | 履带车辆 转向 电子差速 转矩控制 神经网络PID控制 |
Neural Networks PID Control of Steering Torque for Electronic Differential Tracked Vehicle |
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| Zhai Li,Sun Fengchun,Gu Zhongli.Neural Networks PID Control of Steering Torque for Electronic Differential Tracked Vehicle[J].Transactions of the Chinese Society of Agricultural Machinery,2009,40(2). |
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| Authors: | Zhai Li Sun Fengchun Gu Zhongli |
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| Institution: | School of Mechanical and Vehicular Engineering;Beijing Institute of Technology;Beijing 100081;China |
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| Abstract: | According to kinematics and dynamics of tracked vehicle,an analog neural networks PID(ANNPID) control strategy of steering torque for electronic differential tracked vehicle was proposed.The ANNPID control strategy consisted of integrated torque control of two motors,ANNPID control and torque control of an induction motor.A steering control system scheme of electronic differential tracked vehicle with dual induction motors and independent driven was established to achieve torque distribution between two mot... |
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| Keywords: | Tracked vehicle Steering Electronic differential speed Torque control Neural network PID control |
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