铰接式越野车的自动牵引力控制
Automatic traction control for articulated off-road vehicles
摘要：
施工设备的设计旨在保持良好的牵引力，即使在困难的越野条件下运行。为了抑制车轮打滑，车辆配备了差速锁。驾驶员可以接合/脱离锁以在两种不同的操作模式之间切换：关闭模式的特征在于更大的越野通过性，而打开模式允许更好的机动性。然而，许多驾驶员缺乏正确判断车辆前方地形所需的教育和经验，因此以次优的方式接合/脱离锁。因此，需要一种用于锁定和打开差速器的自动牵引力控制解决方案。本文比较了三个开/关差速锁控制算法，所有来自相同的运动车辆模型，但每个依赖于不同的传感器的输出信号的可用性。运动学模型的有效性和算法的灵敏度的值所假设的一对夫妇的不可观测的状态，车轮的滑移角，通过比较多体物理模拟器MSC ADAMS中的一个现实的铰接havelet模型。
英文摘要：
Construction equipment is designed to maintain good traction, even when operating in difficult off-road conditions. To curb wheel slip, the vehicles are equipped with differential locks. A driver may engage/disengage the locks to switch between two distinct operating modes: the closed mode is characterized by greater off-road passability while the open mode allows better manoeuvrability. However, many drivers lack the education and experience required to correctly judge the terrain ahead of the vehicle and therefore engage/disengage the locks in a suboptimal fashion. An automatic traction control solution for locking and opening the differentials is hence desirable. This paper compares three on/off differential lock control algorithms, all derived from the same kinematic vehicle model but each relying on the availability of output signals from different sensors. The validity of the kinematic model and the algorithms' sensitivity to the values assumed by a couple of unobservable states, the wheel slip angles, is investigated by comparison to a realistic articulated hauler model in the multibody physics simulator MSC ADAMS.
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