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首页> 外文会议>FPST-vol.11; American Society of Mechanical Engineers(ASME) International Mechanical Engineering Congress and Exposition; 20041113-19; Anaheim,CA(US) >DIRECTIONAL CONTROL OF A DUAL-PATH HYDROSTATIC TRANSMISSION FOR A TRACK-TYPE VEHICLE
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DIRECTIONAL CONTROL OF A DUAL-PATH HYDROSTATIC TRANSMISSION FOR A TRACK-TYPE VEHICLE

机译：履带车辆双通道静液压传动的方向控制

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摘要

Dual-path hydrostatic transmissions are commonly used in the off-highway construction industry for propulsion and steering of track-type vehicles. While these transmissions provide simplicity of design, they often suffer from a lack of straight-line controllability due to the varying terrain conditions beneath each independent track. In this paper, the dynamics of the track-type vehicle are modeled using kinetic energy relationships. In this process, an equation describing the effective inertia of each track is derived, which is shown to be dependent upon vehicle mass, track geometry, and the amount of slip that occurs during track operation. The development of this equation is considered to be a significant and unique contribution to the literature. Using a directional compass as a solitary feedback signal, a PID controller is then designed to ensure straight-line tracking for the vehicle. In this research, a typical track-type vehicle is simulated, and it is shown that the PID controller provides robust straight-line controllability as the vehicle is subjected to conditions of extreme terrain-slippage.
机译：双路静液压变速器通常在越野建筑行业中用于履带式车辆的推进和转向。这些变速器虽然简化了设计，但由于每个独立轨道下方的地形条件各异，因此常常缺乏直线可控性。在本文中，使用动能关系对履带式车辆的动力学建模。在此过程中，得出了描述每个轨道的有效惯性的方程式，该方程式取决于车辆的质量，轨道的几何形状以及在轨道运行过程中发生的打滑量。该方程的发展被认为是对文献的重大而独特的贡献。然后使用方向罗盘作为单独的反馈信号，设计PID控制器以确保对车辆进行直线跟踪。在这项研究中，对典型的履带式车辆进行了仿真，结果表明，PID控制器在车辆经受极端地形滑移的情况下具有强大的直线可控性。

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