【摘要】 考虑舰船多自由度的耦合运动影响,基于舰船甲板上的轮毂电机驱动舰载机无杆式牵引车时变非线性纵向动力学模型的基础,建立了目标牵引车及其驱动轮的运动学模型。采用滑模极值搜索算法,无需预先估计舰面附着系数和最优滑转率,在线自动搜寻最优滑转率,使得牵引车获得最大的轮胎驱动力。在Matlab/Simulink平台建立了目标牵引车驱动防滑系统的仿真模型。仿真结果表明:牵引车由于等效质量以及甲板附着系数大,滑转率相对较小;此控制策略能使目标牵引车在驱动过程中快速达到的最优滑转率附近,时效性和鲁棒性都很好。更多还原

【Abstract】 Considering the inertial force produced by carrier roll-pitch-heave coupled motion on the target tractor,the tractor kinematic models and its driving wheels were established based on its time-varying nonlinear dynamic model.The optimal slip-ratio can be controlled online without pre-estimating the adhesion coefficient and the optimal slip-ratio,so that the maximum tractor tire driving force can be obtained.Based on Matlab/Simulink,the target tractor acceleration slip regulation simulation model was established.The simulation results show that the tractor slip-ratio is relatively small due to the large equivalent mass and high deck adhesion coefficient.The target tractor optimal slip-ratio can be quickly searched when it is driving on the carrier deck,with good timeliness and robustness.更多还原