Abstract
Dual-motor Electric Drive Tracked Vehicles (DDTVs) have attracted increasing attention due to their high transmission efficiency and economical fuel consumption. A test bench for the development and validation of new DDTV technologies is necessary and urgent. How to load the vehicle on a DDTV test bench exactly the same as on a real road is a crucial issue when designing the bench. This paper proposes a novel dynamic load emulation method to address this problem. The method adopts dual dynamometers to simulate both the road load and the inertia load that are imposed on the dual independent drive systems. The vehicle’s total inertia equivalent to the drive wheels is calculated with separate consideration of vehicle body, tracks and road wheels to obtain a more accurate inertia load. A speed tracking control strategy with feedforward compensation is implemented to control the dual dynamometers, so as to make the real-time dynamic load emulation possible. Additionally, a MATLAB/Simulink model of the test bench is built based on a dynamics analysis of the platform. Experiments are finally carried out on this test bench under different test conditions. The outcomes show that the proposed load emulation method is effective, and has good robustness and adaptability to complex driving conditions. Besides, the accuracy of the established test bench model is also demonstrated by comparing the results obtained from the simulation model and experiments.
Highlights
IntroductionMany advanced control technologies related to hybrid powertrain system have been successfully applied to passenger cars, while the applications for tracked vehicles are relatively narrow and immature
Tracked vehicles, with their advantages of perfect dynamic performance under complicated driving conditions, are widely used in agriculture, construction, the military and many other fields.Compared with traditional tracked vehicles, dual-motor electric drive tracked vehicles (DDTVs) have been attracting increasing attention due to their high transmission efficiency, economical fuel consumption, silent driving performance and easy maintenance.Currently, many advanced control technologies related to hybrid powertrain system have been successfully applied to passenger cars, while the applications for tracked vehicles are relatively narrow and immature
Scholars have undertaken a large number of related studies, where they most concentrate on the drive control strategy (DCS) of the dual-motor under different driving conditions [1,2,3,4], and the energy management strategy (EMS) for power distribution such as the rule-based control strategy [5] and the optimization-based control strategy [6,7,8,9]
Summary
Many advanced control technologies related to hybrid powertrain system have been successfully applied to passenger cars, while the applications for tracked vehicles are relatively narrow and immature. In this case, scholars have undertaken a large number of related studies, where they most concentrate on the drive control strategy (DCS) of the dual-motor under different driving conditions [1,2,3,4], and the energy management strategy (EMS) for power distribution such as the rule-based control strategy [5] and the optimization-based control strategy [6,7,8,9]. The platform is mainly composed of two systems, hardware and system the control
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