电驱动无人履带车辆线控机电联合制动技术研究
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摘要
电驱动履带车辆具有良好的运动可控性,同时可借助电气制动缓解传统履带车辆制动系统负荷重、寿命短的问题,是履带车辆实现无人驾驶的理想驱动方式。通过对某电驱动履带车辆制动系统的无人化设计研究,提出了一种机电联合制动系统线控化的完整技术方案。该方案采用一种改进的三段式机械-电气制动结合方式,并在保证既定制动性能前提下按照最大化制动能量回收的原则,给出了相应的机械-电气制动力分配策略。按照该方案进行平台搭建后,进行了制动性能实车试验,验证了该系统具有良好的制动性能和工作稳定性,可在充分满足国家军用标准对军用履带车辆制动性能要求的同时,保证整体效率在25%左右的动能转化效率。
The electric drive tracked vehicle has good motion controllability,and the problems of heavy load and short life of brake system for the traditional tracked vehicle can be relieved by means of electric brake,which is an ideal driving method for realizing the unmanned driving of tracked vehicle. Through the design of braking system for an electric drive unmanned tracked vehicle,a complete technical solution for the electro-mechanical combined braking system is proposed,which is totally controlled by wire. An improved three-stage mechanical-electric brake combination method is adopted,and according to the principle of maximizing braking energy recovery under the premise of ensuring the custom dynamic performance,a corresponding mechanical-electrical braking force distribution strategy is given. After the platform was built according to the scheme,the brake performance test was carried out. The test results show that the system has good braking performance and stability,and can fully meet the requirements of the national military standard for the braking performance of military tracked vehicles while ensuring the kinetic energy conversion efficiency being around 25%.
The electric drive tracked vehicle has good motion controllability,and the problems of heavy load and short life of brake system for the traditional tracked vehicle can be relieved by means of electric brake,which is an ideal driving method for realizing the unmanned driving of tracked vehicle. Through the design of braking system for an electric drive unmanned tracked vehicle,a complete technical solution for the electro-mechanical combined braking system is proposed,which is totally controlled by wire. An improved three-stage mechanical-electric brake combination method is adopted,and according to the principle of maximizing braking energy recovery under the premise of ensuring the custom dynamic performance,a corresponding mechanical-electrical braking force distribution strategy is given. After the platform was built according to the scheme,the brake performance test was carried out. The test results show that the system has good braking performance and stability,and can fully meet the requirements of the national military standard for the braking performance of military tracked vehicles while ensuring the kinetic energy conversion efficiency being around 25%.
引文
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[4]曾庆含,魏曙光,魏巍,等.混合动力履带车辆机电复合制动力分配策略研究[J].火炮发射与控制学报,2016,37(2):46-51,56.ZENG Q H,WEI S G,WEI W,et al. Study on electric-mechanical combined braking distribution strategy of hybrid electrical vehicle[J]. Journal of Gun Launch&Control,2016,37(2):46-51,56.(in Chinese)
[5]生辉,盖江涛,杜明刚,等.高速电驱动履带车辆联合制动实时仿真研究[J].太原理工大学学报,2017,48(1):79-85.SHENG H,GE J T,DU M G,et al. Research on real-time simulation of composite braking for high-speed electric drive tracked vehicle[J]. Journal of Taiyuan University of Technology,2017,48(1):79-85.(in Chinese)
[6] GILLANI S A U R,JI F Z. Coordination control on the electro-hydraulic braking system of electric vehicles[C]∥Proceedings of International Conference on Computer Science and Network Technology. Harbin:IEEE,2016:1510-1514.
[7]孙逢春,张承宁.装甲车辆混合动力电传动技术[M].北京:国防工业出版社,2008:290-298.SUN F C,ZHANG C N. Hybrid electric drive technology for armored vehicles[M]. Beijing:National Defense Industry Press,2008:290-298.(in Chinese)
[8]王良曦,王红岩.车辆动力学[M].北京:国防工业出版社,2008:33-53.WANG L X,WANG H Y. Vehicle dynamics[M]. Beijing:National Defense Industry Press,2008:33-53.(in Chinese)
[9] TERUO O. Braking performance improvement for hybrid electric vehicle based on electric motor's quick torque response[C]∥Proceedings of the 19th International Electric Vehicle Symposium and Exhibition. Busan,Korea:World Electric Vehicle Association,2002:1285-1296.
[10]生辉,盖江涛,李春明,等.高速电驱动履带车辆联合制动转矩动态协调控制研究[J].兵工学报,2017,38(5):1027-1034.SHENG H,GE J T,LI C M,et al. Coordinated control of high speed electric drive tracked vehicle[J]. Acta Armamentari,2017,38(5):1027-1034.(in Chinese)
[11]王计广,李孟良,徐月云,等.电动汽车制动能量回收系统评价方法研究[J].汽车技术,2014,471(12):35-39.WANG J G,LI M L,XU Y Y,et al. The study on evaluation method of braking energy recovery system for electric vehicles[J]. Automobile Technology,2014,471(12):35-39.(in Chinese)