CN103350719A - Steering control method for crawler driven by motors on two sides in coupling manner - Google Patents

Abstract

The invention belongs to the technical field of hybrid vehicle control, and relates to a steering control method for a crawler driven by motors on two sides in a coupling manner. Whether the crawler sideslips is determined according to normalized accelerator pedal signals, steering wheel angle signals, gear signals and coefficients of road adhesion; a control target is calculated; and the crawler is controlled to steer. If the crawler doesn't sideslip, a table is looked up, the gear signals, the normalized accelerator pedal signals and the steering wheel angle signals are used for acquiring rotation speed control instructions of the motors on the two sides, and the instructions are sent to the motors; if the crawler sideslips, the table is looked up, the normalized accelerator pedal signals, the coefficients of the road adhesion and the gear signals are used for acquiring the rotation speed control instructions of the motors on the two sides, and the instructions are sent to the motors; and controllers of the motors on the two sides receive instructions sent by a transmission system controller, and the crawler is driven to steer. A large number of experiments show that sideslip dangers during crawler travelling can be effectively avoided, and the crawler can effectively execute the driving intention of a driver.

Description

The rotating direction control method that is used for the continuously tracked vehicle of two-side motor couple drive

Technical field

The invention belongs to motor vehicle driven by mixed power control technology field, be specifically related to a kind of rotating direction control method of the continuously tracked vehicle for the two-side motor couple drive.

Background technology

Along with the development of the technology such as Power Electronic Technique, control technology, high power permanent magnet synchronous motor, electric transmission is more and more extensive in the application of continuously tracked vehicle.The continuously tracked vehicle that is different from traditional hydraulic machine transmission adopts the continuously tracked vehicle of two-side motor couple drive form to carry out the continuously tracked vehicle straight or the operation such as to turn to by the rotating speed of control both sides motor.Therefore, drive system controller (TCU) is the brain of electric transmission continuously tracked vehicle, and control method is the soul of drive system controller (TCU).Trailing type compared to wheeled car turns to, and continuously tracked vehicle is realized active turning to by driving system, namely sends different rotating speed control commands by TCU to the both sides motor, thereby it is poor to make the both sides crawler belt produce speed, finally realizes Vehicular turn.So rotating direction control method is the key components that the electric transmission continuously tracked vehicle drives control method.Adhere to the relatively poor or speed of a motor vehicle of condition when higher when the road surface, if the Vehicular turn radius is too small, centnifugal force is excessive, and vehicle is easy to break away, get out of hand, and this is breakneck.So, in rotating direction control method, whether there be may the judging between right and wrong of sideslip normal necessary to vehicle, like this, in steering procedure, just can satisfy under the premise that security is guaranteed the driving intention of chaufeur at continuously tracked vehicle.

Summary of the invention

The technical matters that (one) will solve

The technical problem to be solved in the present invention is the rotating direction control method how a kind of continuously tracked vehicle for the two-side motor couple drive is provided, and avoiding the sideslip in the Vehicle Driving Cycle dangerous, and effectively carries out the intention of travelling of chaufeur.

(2) technical scheme

For solving the problems of the technologies described above, the invention provides a kind of rotating direction control method of the continuously tracked vehicle for the two-side motor couple drive, described control method is implemented based on the continuously tracked vehicle power drive system of two-side motor couple drive, and described power drive system comprises: driving engine 1, electrical generator 2, drive system controller 3, left motor 4, right motor 5, left motor retarder 6, right motor retarder 7, left side speed-changing mechanism and side driving device 9, right side speed-changing mechanism and side driving device 10, left side driving wheel 11, right side driving wheel 12, left track 13, right side crawler belt 14; Described driving engine 1 drives electrical generator 2 generatings, for drive system controller 3 provides electric energy; Motor 4 and right motor 5 send the rotating speed control command to described drive system controller 3 to the left respectively; The power of left motor 4 is delivered to left track 13 through left motor retarder 6, left side speed-changing mechanism and side driving device 9 and left side driving wheel 11, and the power of right motor 5 is delivered to right side crawler belt 14 through right motor retarder 7, right side speed-changing mechanism and side driving device 10 and right side driving wheel 12; When the rotating speed of both sides motor equated, continuously tracked vehicle was carried out straight; When speed discrepancy appearred in the both sides motor, continuously tracked vehicle was carried out and is turned to;

Described control method comprises the steps:

Step S1: drive system controller 3 receives accelerator pedal signal α, and it is carried out normalized, obtains normalized accelerator pedal signal S _α

Step S2: drive system controller 3 receive direction dish angular signal θ, and it is carried out normalized, obtain normalized steering wheel angle signal S _θ

Step S3: drive system controller 3 reads in shift signal D, puts if shift handle is in a gear, then D=1; Put if be in two gears, then D=2; Simultaneously, drive system controller 3 reads in coefficient of road adhesion

Step S4: according to normalized accelerator pedal signal S α, normalized steering wheel angle signal S θ, shift signal D and coefficient of road adhesion

Whether vehicle sideslip is occured is judged; Can not break away if judged result is vehicle, then enter step S5; Otherwise, enter step S6;

Step S5: at first formulate motor speed control command table, by the method for tabling look-up, utilize normalized accelerator pedal signal S α, normalized steering wheel angle signal S θ and shift signal D to obtain the rotating speed control command of left motor 4 and right motor 5, and send; Wherein, the tabulation method of described motor speed control command table is as follows:

Step S501: S α is dispersed, and step-length is 0.1,

Sα＝[0，0.1，0.2，0.3，0.4，0.5，0.6，0.7，0.8，0.9，1.0]

Step S502: S θ is dispersed, and step-length is 0.1,

Sθ＝[-1.0，-0.9，-0.8，-0.7，-0.6，-0.5，-0.4，-0.3，-0.2，-0.1，0，0.1，0.2，0.3，0.4，0.5，0.6，0.7，0.8，0.9，1.0]

Step S503: calculate both sides motor speed control command corresponding to every pair (S α, S θ) under each gear according to following formula (h) and (i), make two-dimentional form:

$\left\{\begin{array}{c}{n}_L=n_{\max }*e_L(\mathrm{S\α},\mathrm{S\θ},D)\\ n_{\mathrm{Loon}}=n_L,\left|n_L\right|\≤n_{\max }\\ n_{\mathrm{Loon}}=n_{\max }*\mathrm{sign}\left(n_L\right),\left|n_L\right|>n_{\max }\end{array}\right.---\left(h\right)$

$\left\{\begin{array}{c}{n}_R=n_{\max }*e_R(\mathrm{S\α},\mathrm{S\θ},D)\\ n_{\mathrm{Roon}}=n_R,\left|n_R\right|\≤n_{\max }\\ n_{\mathrm{Roon}}=n_{\max }*\mathrm{sign}\left(n_R\right),\left|n_R\right|>n_{\max }\end{array}\right.---\left(i\right)$

Wherein, for function e _L(S α, S θ, D) and e _R(S α, S θ, D) concrete form, adopt among the abovementioned steps S4 about the mapping relations between normalized accelerator pedal signal S α and the continuously tracked vehicle barycenter target vehicle speed V (km/h), and the mapping relations between normalized steering wheel angle signal S θ and the continuously tracked vehicle target relative steering ρ, when vehicle adopts differential speed type to turn to, function e _L(S α, S θ, D) and e _RShown in the following following formula of concrete form (j) of (S α, S θ, D) reaches (k);

$e_L=\left\{\begin{array}{c}\mathrm{S\α}*[1+S{\mathrm{\θ}}^2\mathrm{sign}\left(\mathrm{S\θ}\right)],D=1\\ \mathrm{S\α}*[1+\frac{1}{3}S{\mathrm{\θ}}^2\mathrm{sign}\left(\mathrm{S\θ}\right)],D=2\end{array}\right.---\left(j\right)$

$e_R=\left\{\begin{array}{c}\mathrm{S\α}*[1-S{\mathrm{\θ}}^2\mathrm{sign}\left(\mathrm{S\θ}\right)],D=1\\ \mathrm{S\α}*[1-\frac{1}{3}S{\mathrm{\θ}}^2\mathrm{sign}\left(\mathrm{S\θ}\right)],D=2\end{array}\right.---\left(k\right)$

Step S6: according to the motor speed control command table of formulating among the step S5,

By the method for tabling look-up, utilize normalized accelerator pedal signal S α, coefficient of road adhesion

Obtain the rotating speed control command of left motor 4 and right motor 5 with shift signal D, and send; Look-up method is as follows:

Step S601: find the solution the equation (1) about normalized steering wheel angle signal S θ, wherein, T is the safety factor greater than 1;

Step S602: the form that adopts step 5 to formulate, utilize normalized accelerator pedal signal S α, normalized steering wheel angle signal S θ and shift signal D to obtain the rotating speed control command of left motor 4 and right motor 5;

Step S7: the both sides motor is carried out the rotating speed control command of being sent by drive system controller 3.

Wherein, carry out the normalized of accelerator pedal signal according to formula (a);

$\mathrm{S\α}=\frac{\mathrm{\α}-{\mathrm{\α}}_0}{{\mathrm{\α}}_{\max }-{\mathrm{\α}}_0},0\≤S_{\mathrm{\α}}\≤1---\left(a\right)$

Wherein, α ₀Be Das Gaspedal idle running corner; α _MaxBe the Das Gaspedal hard-over.

Wherein, according to the normalized of formula (b) travel direction dish angular signal;

$\mathrm{S\θ}=\frac{\left|\mathrm{\θ}\right|-\left|{\mathrm{\θ}}_0\right|}{\left|{\mathrm{\θ}}_{\max }\right|-\left|{\mathrm{\θ}}_0\right|}*\mathrm{sign}\left(\mathrm{\θ}\right),-1\≤S_{\mathrm{\θ}}\≤1---\left(b\right)$

Wherein, θ ₀Be bearing circle idle running corner; θ _MaxBe the bearing circle hard-over; And S θ was for negative when bearing circle turned left, and S θ was for just when bearing circle was turned right, and S θ is zero during straight.

Wherein, described step S4 specifically comprises:

Step S401: according to the operating mode definition continuously tracked vehicle barycenter target vehicle speed V (km/h) of vehicle and the mapping relations between normalized accelerator pedal signal S α, the shift signal D, these mapping relations represent with formula (c);

V＝f(Sα，D) (c)

Step S402: according to the operating mode of vehicle and in conjunction with the mapping relations between Vehicle turning stability requirements definition continuously tracked vehicle target relative steering ρ and normalized steering wheel angle signal S θ, the shift signal D; These mapping relations reach with formula (d) and (e) represent;

ρ＝h(Sθ，D)(d)

$\mathrm{\ρ}=\frac{R}{B}---\left(e\right)$

Wherein, R is Vehicular turn radius (m); B is the distance (m) of both sides crawler belt line of centers;

Step S403: judge whether Vehicular turn breaks away:

Wherein, m is vehicle mass (kg); G is acceleration due to gravity (m/s ²);

In formula (c), (d), (e) substitution formula (f), obtain:

If S is α, S θ and D satisfy formula (g), judged result is that vehicle can not break away so, then enters step S5; Otherwise, judge that vehicle will break away, then enter step S6.

(3) beneficial effect

Compared with prior art, whether technical solution of the present invention occurs to break away to vehicle according to normalized accelerator pedal signal and steering wheel angle signal, shift signal and coefficient of road adhesion is judged, calculate the control target, carry out continuously tracked vehicle and turn to control.If vehicle can not break away, the method by tabling look-up utilizes shift signal, normalized accelerator pedal signal and steering wheel angle signal to obtain the rotating speed control command of both sides motor so, sends to motor; If vehicle will break away, the method by tabling look-up utilizes normalized accelerator pedal signal, coefficient of road adhesion and shift signal to obtain the rotating speed control command of both sides motor so, sends to motor; The both sides electric machine controller receives the instruction that drive system controller sends, and drives continuously tracked vehicle and turns to.Prove that through lot of experiments this technical scheme can effectively avoid the sideslip in the Vehicle Driving Cycle dangerous, and makes vehicle effectively carry out the intention of travelling of chaufeur.

Description of drawings

Fig. 1 be technical solution of the present invention implement based on the structural representation of continuously tracked vehicle power drive system of two-side motor couple drive.

Fig. 2 is the method flow diagram of technical solution of the present invention.

Fig. 3 is Das Gaspedal stroke scheme drawing in the technical solution of the present invention.

Fig. 4 is steering wheel angle scheme drawing in the technical solution of the present invention.

The specific embodiment

For making purpose of the present invention, content and advantage clearer, below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.

For solving the problem of prior art, the invention provides a kind of rotating direction control method that is applicable to the continuously tracked vehicle of two-side motor couple drive, obtain the rotating speed control command of both sides motor according to accelerator pedal signal, steering wheel angle signal and shift signal etc. by the mode of tabling look-up

A kind of rotating direction control method of the continuously tracked vehicle for the two-side motor couple drive, described control method is implemented based on the continuously tracked vehicle power drive system of two-side motor couple drive, as shown in Figure 1, described power drive system comprises: driving engine 1, electrical generator 2, drive system controller 3, left motor 4, right motor 5, left motor retarder 6, right motor retarder 7, power coupling mechanism 8, left side speed-changing mechanism and side driving device 9, right side speed-changing mechanism and side driving device 10, left side driving wheel 11, right side driving wheel 12, left track 13, right side crawler belt 14; Described driving engine 1 drives electrical generator 2 generatings, for drive system controller 3 provides electric energy; Motor 4 and right motor 5 send the rotating speed control command to described drive system controller 3 to the left respectively; The power of both sides motor output is delivered to power coupling mechanism 8 through left motor retarder 6 and right motor retarder 7 respectively; One road power of described power coupling mechanism 8 outputs is delivered to left track 13 through left side speed-changing mechanism and side driving device 9 and left side driving wheel 11, and another road power of power coupling mechanism 8 outputs is delivered to right side crawler belt 14 through right side speed-changing mechanism and side driving device 10 and right side driving wheel 12;

Perhaps, the continuously tracked vehicle power drive system of described two-side motor couple drive also can remove power coupling mechanism 8, namely, the power of left motor 4 directly is delivered to left track 13 through left motor retarder 6, left side speed-changing mechanism and side driving device 9 and left side driving wheel 11, and the power of right motor 5 directly is delivered to right side crawler belt 14 through right motor retarder 7, right side speed-changing mechanism and side driving device 10 and right side driving wheel 12;

When the rotating speed of both sides motor equated, continuously tracked vehicle was carried out straight; When speed discrepancy appearred in the both sides motor, continuously tracked vehicle was carried out and is turned to;

The diagram of circuit of control method of the present invention as shown in Figure 2; Described control method comprises the steps:

Step S1: drive system controller 3 receives accelerator pedal signal α, and it is carried out normalized, obtains normalized accelerator pedal signal S α (0≤S α≤1); Wherein, carry out the normalized of accelerator pedal signal according to formula (a);

$\mathrm{S\α}=\frac{\mathrm{\α}-{\mathrm{\α}}_0}{{\mathrm{\α}}_{\max }-{\mathrm{\α}}_0}---\left(a\right)$

Wherein, as shown in Figure 3, α ₀Be Das Gaspedal idle running corner; α _MaxBe the Das Gaspedal hard-over;

Step S2: drive system controller 3 receive direction dish angular signal θ, and it is carried out normalized, obtain normalized steering wheel angle signal S θ (1≤S θ≤1); Wherein, according to the normalized of formula (b) travel direction dish angular signal;

$\mathrm{S\θ}=\frac{\left|\mathrm{\θ}\right|-\left|{\mathrm{\θ}}_0\right|}{\left|{\mathrm{\θ}}_{\max }\right|-\left|{\mathrm{\θ}}_0\right|}*\mathrm{sign}\left(\mathrm{\θ}\right)---\left(b\right)$

Wherein, as shown in Figure 4, θ ₀Be bearing circle idle running corner; θ _MaxBe the bearing circle hard-over; And S θ was for negative when bearing circle turned left, and S θ was for just when bearing circle was turned right, and S θ is zero during straight;

Step S3: drive system controller 3 reads in shift signal D, puts if shift handle is in a gear, then D=1; Put if be in two gears, then D=2;

Simultaneously, drive system controller 3 reads in coefficient of road adhesion

Step S4: according to normalized accelerator pedal signal S α, normalized steering wheel angle signal S θ, shift signal D and coefficient of road adhesion

Whether vehicle sideslip is occured is judged;

When coefficient of road adhesion is less, and the speed of a motor vehicle is higher, if at this time vehicle carries out small radius steering and just might break away, makes the vehicle get out of hand, and this is breakneck.So, in step S4, judge whether vehicle can break away, and described step S4 specifically comprises:

Step S401: according to the operating mode definition continuously tracked vehicle barycenter target vehicle speed V (km/h) of vehicle and the mapping relations between normalized accelerator pedal signal S α, the shift signal D, namely, in the vehicular drive process, speed of a motor vehicle size is that the relation that the weight by gear size and Das Gaspedal determines defines this mapping relations, and these mapping relations represent with formula (c);

V＝f(Sα，D) (c)

Step S402: according to the operating mode of vehicle and in conjunction with the mapping relations between Vehicle turning stability requirements definition continuously tracked vehicle target relative steering ρ and normalized steering wheel angle signal S θ, the shift signal D; That is, in the vehicular drive process, the turn radius size is to define this mapping relations by the relation that gear size and steering wheel angle size determine, these mapping relations reach with formula (d) and (e) represent;

ρ＝h(Sθ，D) (d)

$\mathrm{\ρ}=\frac{R}{B}---\left(e\right)$

Wherein, R is Vehicular turn radius (m); B is the distance (m) of both sides crawler belt line of centers;

Step S403: judge whether Vehicular turn breaks away:

Wherein, m is vehicle mass (kg); G is acceleration due to gravity (m/s ²);

In formula (c), (d), (e) substitution formula (f), obtain:

If S is α, S θ and D satisfy formula (g), judged result is that vehicle can not break away so, then enters step S5; Then, judge that vehicle will break away, then enter step S6;

Step S404: Rule of judgment is carried out more detailed casehistory, respectively mapping relationship f and h are defined:

$V=\left\{\begin{array}{c}\mathrm{S\α}*0.377\frac{n_{\max }{r}_z}{i_j{i}_{b1}{i}_c},D=1\\ \mathrm{S\α}*0.377\frac{n_{\max }{r}_z}{i_j{i}_{b2}{i}_c},D=2\end{array}\right.---\left(c^{,}\right)$

$\mathrm{\ρ}=\left\{\begin{array}{c}\frac{1}{{2\mathrm{S\θ}}^2},D=1\\ \frac{3}{{2\mathrm{S\θ}}^2},D=1\end{array}\right.---\left(d^{,}\right)$

Wherein, n _MaxMaximum speed of revolution (r/min) for drive motor; r _zBe driving wheel radius (m); i _jDrive motor retarder transmitting ratio; i _B1And i _B2Be respectively the transmitting ratio of speed-changing mechanism when a gear and two gears; i _cTransmitting ratio for the side driving device;

Formula (c '), (d ') substitution formula (g) are obtained:

If S α, S θ satisfies formula (g '), vehicle can not break away so; Otherwise vehicle will break away;

Step S5: at first formulate motor speed control command table, by the method for tabling look-up, utilize normalized accelerator pedal signal S α, normalized steering wheel angle signal S θ and shift signal D to obtain the rotating speed control command of left motor 4 and right motor 5, and send; Wherein, the tabulation method of described motor speed control command table is as follows:

Step S501: S α is dispersed, and step-length is 0.1,

Sα＝[0，0.1，0.2，0.3，0.4，0.5，0.6，0.7，0.8，0.9，1.0]

Step S502: S θ is dispersed, and step-length is 0.1,

Sθ＝[-1.0，-0.9，-0.8，-0.7，-0.6，-0.5，-0.4，-0.3，-0.2，-0.1，0，0.1，0.2，0.3，0.4，0.5，0.6，0.7，0.8，0.9，1.0]

Step S503: calculate both sides motor speed control command corresponding to every pair (S α, S θ) under each gear according to following formula (h) and (i), make two-dimentional form:

$\left\{\begin{array}{c}{n}_L=n_{\max }*e_L(\mathrm{S\α},\mathrm{S\θ},D)\\ n_{\mathrm{Loon}}=n_L,\left|n_L\right|\≤n_{\max }\\ n_{\mathrm{Loon}}=n_{\max }*\mathrm{sign}\left(n_L\right),\left|n_L\right|>n_{\max }\end{array}\right.---\left(h\right)$

$\left\{\begin{array}{c}{n}_R=n_{\max }*e_R(\mathrm{S\α},\mathrm{S\θ},D)\\ n_{\mathrm{Roon}}=n_R,\left|n_R\right|\≤n_{\max }\\ n_{\mathrm{Roon}}=n_{\max }*\mathrm{sign}\left(n_R\right),\left|n_R\right|>n_{\max }\end{array}\right.---\left(i\right)$

Wherein, supposing does not have the power coupling mechanism in the driving system, for function e _L(S α, S θ, D) and e _R(S α, S θ, D) concrete form, adopt among the abovementioned steps S4 about the mapping relations between normalized accelerator pedal signal S α and the continuously tracked vehicle barycenter target vehicle speed V (km/h), and the mapping relations between normalized steering wheel angle signal S θ and the continuously tracked vehicle target relative steering ρ, when vehicle adopts differential speed type to turn to, function e _L(S α, S θ, D) and e _RShown in the following following formula of concrete form (j) of (S α, S θ, D) reaches (k);

$e_L=\left\{\begin{array}{c}\mathrm{S\α}*[1+S{\mathrm{\θ}}^2\mathrm{sign}\left(\mathrm{S\θ}\right)],D=1\\ \mathrm{S\α}*[1+\frac{1}{3}S{\mathrm{\θ}}^2\mathrm{sign}\left(\mathrm{S\θ}\right)],D=2\end{array}\right.---\left(j\right)$

$e_R=\left\{\begin{array}{c}\mathrm{S\α}*[1-S{\mathrm{\θ}}^2\mathrm{sign}\left(\mathrm{S\θ}\right)],D=1\\ \mathrm{S\α}*[1-\frac{1}{3}S{\mathrm{\θ}}^2\mathrm{sign}\left(\mathrm{S\θ}\right)],D=2\end{array}\right.---\left(k\right)$

Wherein, and hypothesis is provided with the power coupling mechanism in the driving system, and then abovementioned steps S503 calculates both sides motor speed control command corresponding to every pair (S α, S θ) under each gear according to following formula (h ') and (i '), makes two-dimentional form:

$\left\{\begin{array}{c}{n}_L=n_{\max }*e_L(\mathrm{S\α},\mathrm{S\θ},D)\\ n_{\mathrm{Lcon}}=n_L,\left|n_L\right|\≤n_{\max }\\ n_{\mathrm{Lcon}}=n_{\max }*\mathrm{sign}\left(n_L\right),\left|n_L\right|>n_{\max }\end{array}\right.---\left(h\right)$

$\left\{\begin{array}{c}{n}_R=n_{\max }*e_R(\mathrm{S\α},\mathrm{S\θ},K,D)\\ n_{\mathrm{Rcon}}=n_R,\left|n_R\right|\≤n_{\max }\\ n_{\mathrm{Rcon}}=n_{\max }*\mathrm{sign}\left(n_R\right),\left|n_R\right|>n_{\max }\end{array}\right.---\left(i\right)$

Wherein, K is the Parameter of Planet Bars of power coupling mechanism;

Step S6: according to the motor speed control command table of formulating among the step S5, by the method for tabling look-up, utilize normalized accelerator pedal signal S α, coefficient of road adhesion

Obtain the rotating speed control command of left motor 4 and right motor 5 with shift signal D, and send; Look-up method is as follows:

Step S601: find the solution the equation (1) about normalized steering wheel angle signal S θ, wherein, T is the safety factor greater than 1;

Step S602: the form that adopts step 5 to formulate, utilize normalized accelerator pedal signal S α, normalized steering wheel angle signal S θ and shift signal D to obtain the rotating speed control command of left motor 4 and right motor 5;

Step S7: the both sides motor is carried out the rotating speed control command of being sent by drive system controller 3.

The above only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvement and distortion, these improvement and distortion also should be considered as protection scope of the present invention.

Claims (4)

1. rotating direction control method that is used for the continuously tracked vehicle of two-side motor couple drive, it is characterized in that, described control method is implemented based on the continuously tracked vehicle power drive system of two-side motor couple drive, and described power drive system comprises: driving engine (1), electrical generator (2), drive system controller (3), left motor (4), right motor (5), left motor retarder (6), right motor retarder (7), left side speed-changing mechanism and side driving device (9), right side speed-changing mechanism and side driving device (10), left side driving wheel (11), right side driving wheel (12), left track (13), right side crawler belt (14); Described driving engine (1) drives electrical generator (2) generating, for drive system controller (3) provides electric energy; Motor (4) and right motor (5) send the rotating speed control command to described drive system controller (3) to the left respectively; The power of left motor (4) is delivered to left track (13) through left motor retarder (6), left side speed-changing mechanism and side driving device (9) and left side driving wheel (11), and the power of right motor (5) is delivered to right side crawler belt (14) through right motor retarder (7), right side speed-changing mechanism and side driving device (10) and right side driving wheel (12); When the rotating speed of both sides motor equated, continuously tracked vehicle was carried out straight; When speed discrepancy appearred in the both sides motor, continuously tracked vehicle was carried out and is turned to;

Described control method comprises the steps:

Step S1: drive system controller (3) receives accelerator pedal signal α, and it is carried out normalized, obtains normalized accelerator pedal signal S _α

Step S2: drive system controller (3) receive direction dish angular signal θ, and it is carried out normalized, obtain normalized steering wheel angle signal S _θ

Step S3: drive system controller (3) reads in shift signal D, puts if shift handle is in a gear, then D=1; Put if be in two gears, then D=2; Simultaneously, drive system controller (3) reads in coefficient of road adhesion

Step S4: according to normalized accelerator pedal signal S α, normalized steering wheel angle signal S θ, shift signal D and coefficient of road adhesion

Whether vehicle sideslip is occured is judged; Can not break away if judged result is vehicle, then enter step S5; Otherwise, enter step S6;

Step S5: at first formulate motor speed control command table, by the method for tabling look-up, utilize normalized accelerator pedal signal S α, normalized steering wheel angle signal S θ and shift signal D to obtain the rotating speed control command of left motor (4) and right motor (5), and send; Wherein, the tabulation method of described motor speed control command table is as follows:

Step S501: S α is dispersed, and step-length is 0.1,

Sα＝[0，0.1，0.2，0.3，0.4，0.5，0.6，0.7，0.8，0.9，1.0]

Step S502: S θ is dispersed, and step-length is 0.1,

Sθ＝[-1.0，-0.9，-0.8，-0.7，-0.6，-0.5，-0.4，-0.3，-0.2，-0.1，0，0.1，0.2，0.3，0.4，0.5，0.6，0.7，0.8，0.9，1.0]

Step S503: calculate both sides motor speed control command corresponding to every pair (S α, S θ) under each gear according to following formula (h) and (i), make two-dimentional form:

$\left\{\begin{array}{c}{n}_L=n_{\max }*e_L(\mathrm{S\α},\mathrm{S\θ},D)\\ n_{\mathrm{Loon}}=n_L,\left|n_L\right|\≤n_{\max }\\ n_{\mathrm{Loon}}=n_{\max }*\mathrm{sign}\left(n_L\right),\left|n_L\right|>n_{\max }\end{array}\right.---\left(h\right)$

$\left\{\begin{array}{c}{n}_R=n_{\max }*e_R(\mathrm{S\α},\mathrm{S\θ},D)\\ n_{\mathrm{Roon}}=n_R,\left|n_R\right|\≤n_{\max }\\ n_{\mathrm{Roon}}=n_{\max }*\mathrm{sign}\left(n_R\right),\left|n_R\right|>n_{\max }\end{array}\right.---\left(i\right)$

Wherein, for function e _L(S α, S θ, D) and e _R(S α, S θ, D) concrete form, adopt among the abovementioned steps S4 about the mapping relations between normalized accelerator pedal signal S α and the continuously tracked vehicle barycenter target vehicle speed V (km/h), and the mapping relations between normalized steering wheel angle signal S θ and the continuously tracked vehicle target relative steering ρ, when vehicle adopts differential speed type to turn to, function e _L(S α, S θ, D) and e _RShown in the following following formula of concrete form (j) of (S α, S θ, D) reaches (k);

$e_L=\left\{\begin{array}{c}\mathrm{S\α}*[1+S{\mathrm{\θ}}^2\mathrm{sign}\left(\mathrm{S\θ}\right)],D=1\\ \mathrm{S\α}*[1+\frac{1}{3}S{\mathrm{\θ}}^2\mathrm{sign}\left(\mathrm{S\θ}\right)],D=2\end{array}\right.---\left(j\right)$

$e_R=\left\{\begin{array}{c}\mathrm{S\α}*[1+S{\mathrm{\θ}}^2\mathrm{sign}\left(\mathrm{S\θ}\right)],D=1\\ \mathrm{S\α}*[1+\frac{1}{3}S{\mathrm{\θ}}^2\mathrm{sign}\left(\mathrm{S\θ}\right)],D=2\end{array}\right.---\left(k\right)$

Step S6: according to the motor speed control command table of formulating among the step S5,

By the method for tabling look-up, utilize normalized accelerator pedal signal S α, coefficient of road adhesion

Obtain the rotating speed control command of left motor (4) and right motor (5) with shift signal D, and send; Look-up method is as follows:

Step S601: find the solution the equation (1) about normalized steering wheel angle signal S θ, wherein, T is the safety factor greater than 1;

Step S602: the form that adopts step 5 to formulate, utilize normalized accelerator pedal signal S α, normalized steering wheel angle signal S θ and shift signal D to obtain the rotating speed control command of left motor (4) and right motor (5);

Step S7: both sides motor (4,5) is carried out the rotating speed control command of being sent by drive system controller (3).

2. the rotating direction control method of the continuously tracked vehicle for the two-side motor couple drive as claimed in claim 1 is characterized in that, carries out the normalized of accelerator pedal signal according to formula (a);

$\mathrm{S\α}=\frac{\mathrm{\α}-{\mathrm{\α}}_0}{{\mathrm{\α}}_{\max }-{\mathrm{\α}}_0},0\≤S_{\mathrm{\α}}\≤1---\left(a\right)$

Wherein, α ₀Be Das Gaspedal idle running corner; α _MaxBe the Das Gaspedal hard-over.

3. the rotating direction control method of the continuously tracked vehicle for the two-side motor couple drive as claimed in claim 1 is characterized in that, according to the normalized of formula (b) travel direction dish angular signal;

$\mathrm{S\θ}=\frac{\left|\mathrm{\θ}\right|-\left|{\mathrm{\θ}}_0\right|}{\left|{\mathrm{\θ}}_{\max }\right|-\left|{\mathrm{\θ}}_0\right|}*\mathrm{sign}\left(\mathrm{\θ}\right),-1\≤S_{\mathrm{\θ}}\≤1---\left(b\right)$

Wherein, θ ₀Be bearing circle idle running corner; θ _MaxBe the bearing circle hard-over; And S θ was for negative when bearing circle turned left, and S θ was for just when bearing circle was turned right, and S θ is zero during straight.

4. the rotating direction control method of the continuously tracked vehicle for the two-side motor couple drive as claimed in claim 1 is characterized in that described step S4 specifically comprises:

Step S401: according to the operating mode definition continuously tracked vehicle barycenter target vehicle speed V (km/h) of vehicle and the mapping relations between normalized accelerator pedal signal S α, the shift signal D, these mapping relations represent with formula (c);

V＝f(Sα，D) (c)

Step S402: according to the operating mode of vehicle and in conjunction with the mapping relations between Vehicle turning stability requirements definition continuously tracked vehicle target relative steering ρ and normalized steering wheel angle signal S θ, the shift signal D; These mapping relations reach with formula (d) and (e) represent;

ρ＝h(Sθ，D) (d)

$\mathrm{\ρ}=\frac{R}{B}---\left(\text{e}\right)$

Wherein, R is Vehicular turn radius (m); B is the distance (m) of both sides crawler belt line of centers;

Step S403: judge whether Vehicular turn breaks away:

Wherein, m is vehicle mass (kg); G is acceleration due to gravity (m/s ²);

In formula (c), (d), (e) substitution formula (f), obtain:

If S is α, S θ and D satisfy formula (g), judged result is that vehicle can not break away so, then enters step S5; Then, judge that vehicle will break away, then enter step S6.

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