摘要
从整车转向动力学和运动学角度出发,通过驾驶员给定内外侧马达目标转矩来分别控制马达输出转矩,从而实现整车转向运动,并对这一转矩控制方法进行了理论分析。在考虑离心力的情况下,得出了转向时两侧马达所需的转矩及转矩之和、转矩之差与相对转向半径、转向角速度和路面参数之间的关系。研究结果为转矩控制策略的实现提供了理论基础。
From the whole vehicle steering dynamics and kinematics aspect, motor output torque was controlled by given inside and outside motor objective torques; thereby the whole vehicle steering motion was achieved. And theoretical analysis was presented about above the torque control method. The relationship between inside/outside motor torques （its sum/difference） and relative steering radius, steering angular velocity and road parameters were established in the case of considering the centrifugal force. The results provide a theoretical basis for making torque control strategy.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2009年第21期2632-2637,共6页
China Mechanical Engineering
基金
国防预先研究支撑项目(62301030303)
高等学校学科创新引智计划资助项目(B08043)
关键词
静液驱动
履带车辆
转矩控制
转向
hydrostatic drive
tracked vehicle
torque control
steering
