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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2020, Vol. 54 Issue (3): 442-449    DOI: 10.3785/j.issn.1008-973X.2020.03.003
Mechanical Engineering     
Emergency braking control strategy for high speed electric drive tracked vehicle
Zhao-meng CHEN(),Xiao-jun ZHOU*(),Chen-long YANG,Hao-liang LV,Jie-chao WEI
School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
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Abstract  

A comprehensive combined anti-lock braking strategy was proposed, in order to improve the braking performance of high speed electric drive tracked vehicles and reduce the stopping distance when braking on low adhesion grounds. This strategy consisted of a slip ratio controller which was based on robust sliding mode control, a rule-based braking torque pre-allocating method and a feedforward compensating algorithm. The strategy was designed according to modelling and analysis of the dynamics of high speed electric drive tracked vehicles, track-ground conditions as well as their braking actuators which were the mechanical brakes, permanent magnet synchronous motors and the hydraulic retarders. A semi-physical-in-loop (SPIL) test system, which consisted of a driver input subsystem, a test managing subsystem and a real-time simulating subsystem, was established based on a dSPACE SCALEXIO real-time host machine equipped with DS2680 IO board and DS2671 Bus board. Several real-time simulations and HIL tests, which included real driver inputs in the loop, were conducted under the situation of braking on snow from an initial velocity of 80 km/h. The simulation and test results show that, compared with traditional methods, this strategy can make better use of ground adhesion, keep the slip ratio stays in desired region more efficiently and reduce the stopping distance.

Key words： electric drive      tracked vehicle      emergency braking      sliding mode control      semi-physical-in-loop (SPIL) test     
Received: 23 October 2019      Published: 05 March 2020
CLC:  TJ 810.2  
Corresponding Authors: Xiao-jun ZHOU     E-mail: chernzm@zju.edu.cn;cmeesky@163.com
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Zhao-meng CHEN
Xiao-jun ZHOU
Chen-long YANG
Hao-liang LV
Jie-chao WEI
Cite this article:

Zhao-meng CHEN,Xiao-jun ZHOU,Chen-long YANG,Hao-liang LV,Jie-chao WEI. Emergency braking control strategy for high speed electric drive tracked vehicle. Journal of ZheJiang University (Engineering Science), 2020, 54(3): 442-449.

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http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2020.03.003     OR     http://www.zjujournals.com/eng/Y2020/V54/I3/442


高速电驱动履带车辆紧急制动控制策略

为了改善高速双侧电机驱动履带车辆在履带-地面接触条件较差时紧急制动的操控性能并减少制动距离，通过对履带车辆直线行驶动力学和其机械制动器、永磁同步电机及液力缓速器等制动执行机构进行动力学建模分析，提出基于滑模鲁棒控制、制动扭矩预分配规则和前馈补偿控制的机电液联合紧急制动防抱死控制策略. 以配备有DS2680 IO板卡和DS2671总线板卡的dSPACE SCALEXIO实时主机为核心搭建驾驶员输入在环的半实物在环，并针对高速双侧电机驱动履带车辆在雪地上以初速度为80 km/h进行紧急制动的工况，进行实时仿真和驾驶员在环试验. 仿真和试验结果表明：相对于常规履带车辆紧急制动控制方法，提出的策略能够更有效地将车辆滑移率保持在合理范围内，更好地利用地面附着力，并缩短了制动距离.


关键词： 电驱动,  履带车辆,  紧急制动,  滑模控制,  半实物在环试验 
Fig.1 Schematic diagram of powertrain of high speed electric drive tracked vehicle
Fig.2 Schematic diagram of forces and torques acting on high speed electric drive tracked vehicle when braking
Fig.3 Typical low and medium adhesion adhesion coefficient-slip rate curves of tracked vehicle
Fig.4 Block diagram of emergency braking control strategy
Fig.5 Block diagram of braking torque pre-allocating rules
Fig.6 Feedforward braking torque dynamic compensator
Fig.7 Semi-physical-in-loop (SPIL) test system
Fig.8 Communication and control structure of SPIL test system
参数 数值 单位 参数 数值 单位
M 52 000 kg φA 27.3 °
r 0.309 m φD 35.6 °
A 5.36 m2 CD 1 ?
J 158.8 kg?m2 JI 31.2 kg?m2
Jrw 23.7 kg?m2 nrw 6 ?
Jsr 13 kg?m2 nsr 3 ?
Tab.1 Parameters list of the tracked vehicle
评价指标 t/s S/m $\bar \lambda $ σ E/kWh
全制动 10.295 112.433 0.907 0.742 0.176
防抱死制动 9.061 100.366 0.189 0.029 0.119
Tab.2 Simulation results and evaluation index
Fig.9 Real-time simulation results of full braking
Fig.10 Real-time simulation results of anti-lock braking strategy
Fig.11 HIL test results of anti-lock braking strategy
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