The invention discloses a steering control strategy for adjusting the rotating speed of a hydrostatic drive tracked vehicle, which comprises the following steps: S1, an instruction expression of a finite-state machine: sending a target rotating speed instruction to pumps and motor displacement controllers on two sides in any control period k as follows: in the formula, the rotating speed instructions are respectively sent to the motors on two sides in the kth control period, wherein the target rotating speeds of the motors on the two sides are interpreted by input of a driver in the kth control period, and the rotating speed instruction is sent to the motors on the two sides in the (k-1)th control period. According to the method, the problem that the speed regulation scheme is lagged is solved, the target vehicle speed of the driver is corrected in advance, the control period is shortened, when it is found that the input intention of the driver adjusted by the motors on the two sides for the steering control strategy still cannot be met or the whole vehicle safety is involved due to special road conditions, corresponding treatment is conducted, and potential safety hazards are reduced.
本发明公开了静液驱动履带车辆调节转速的转向控制策略,S1:有限状态机的指令表达式,任意控制周期k向两侧泵、马达排量控制器发送目标转速指令为:式中,分别为第k个控制周期向两侧马达发送的转速指令,分别为第k个控制周期由驾驶员输入解释的两侧马达的目标转速,为第k‑1个控制周期向两侧马达发送的转速指令。本发明解决了调速方案调节滞后的问题,提前修正驾驶员目标车速,缩短了控制周期,当发现两侧马达对于转向控制策略调整过的驾驶员输入意图仍然无法满足或者由于路面特殊情况涉及到整车安全时,进行相应的处理,减少安全隐患。
Steering control strategy for adjusting rotating speed of hydrostatic drive tracked vehicle
静液驱动履带车辆调节转速的转向控制策略
2021-04-23
Patent
Electronic Resource
Chinese
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