【摘要】 基于电液比例控制技术，设计一种履带式底盘液压驱动系统，实现履带式液压驱动底盘的直线和转向行驶控制。在分析电液比例转速控制原理和驱动底盘运动学的基础上，推导出底盘转向角度与两侧履带速度差以及与两侧马达的转动速度之间的关系。为改善系统动态响应性能，设计PID控制器以及模糊PID控制策略。基于AMESim与MATLAB/Simulink建立仿真模型，并进行联合仿真研究。结果表明：采用提出的控制策略，直行时两侧马达同步性控制效果良好、抗干扰能力好、超调量小；转向时，对信号的跟踪误差小、响应速度快、超调量小、鲁棒性好。更多还原

【Abstract】 Based on the electrohydraulic ratio control technology, a crawler chassis hydraulic drive system was designed to realize the linear and steering control.On the basis of the control principle and the chassis kinematics, the relationship between the steering angle and the track speed of the motors was deduced.To improve the dynamic response performance of the system, the PID controller and the fuzzy PID control strategy were designed.The simulation model was established based on AMESim and MATLAB/Simulink and joint simulation study was performed.The results show that using the control strategy, when the chassis is running in a straight line, synchronization control effect of the motor on both sides is good, with good anti-interference ability and small overshoot; when the chassis turns, the tracking error to the given signal is small with fast response speed, small overshoot and good robustness.更多还原