Automatic Adaptive Control of Full-Flow Hydrostatic Transmission for Tri-axial All-Wheel Drive Vehicle
Abstract
The article presents the research results aimed at theoretical justification of requirements for automatic adaptive control systems (AACS) to be the basis of developed intelligent transmissions of multi-drive wheeled all-terrain vehicles.
To conduct studies was used a specially developed mathematical model of motion of triaxial all-wheel drive vehicle “Gidrohod-49061”, equipped with CVT full flow hydrostatic transmission (HST) on a non-deformable support surface. This mathematical model is to simulate different operating conditions of the vehicle, which are a consequence both of disturbances from the road and of control actions from the driver and AACS.
The article presents some results of theoretical and experimental studies to prove the adequacy of the developed mathematical model.
The results analysis of mathematical modeling proved conclusively that one of the main tasks to be solved owing to developed AACS of intelligent transmission of multi-drive wheeled vehicle is to reduce the mismatch value in operation of drive wheels.
It is shown that the reasons for these mismatches can be either AACS error when processing control signals or other factors that characterize operating conditions of the drive wheels. Therefore, the paper proposes to develop a tracking control system of HST of the considered vehicle using the output parameters characterizing operation conditions of its drive wheels rather than the values of control parameters of hydraulic working volumes. As output parameters, it is proposed to use the speed of the drive wheels (hydro-motor shafts) and pressure drop in the main pump hydraulic drives, coming to HST.
Therefore it is proposed to develop HST AACS of the vehicle under consideration, as a system of two-level regulation, including the kinematic (main level) and power (level of correction) circuits. The former provides, at the first approximation, the required values of the drive wheel speeds in the given conditions, and the latter, within the dead zone of the former, seeks to provide the optimum torque distribution to the wheels in these conditions.
About the Author
A. V. Lepeshkin
Moscow State University of Mechanical Engineering (MAMI)
Russian Federation
Moscow
Russian Federation
Moscow
References
1. Shukhman S.B., Solov'ev V.I., Prochko E.I. Teoriya silovogo privoda koles avtomobilei vysokoi prokhodimosti [The theory of the power wheel drive of all-terrain vehicles]. Moscow, Agrobiznestsentr Publ., 2007. 336 p. (in Russian).
2. Lepeshkin A.V. Mathematical model of vehicle motion of "Gidrohod-49061" with hydrostatic transmission on non-deformable support surface. Khroniki ob"edinennogo fonda elektronnykh resursov «Nauka i obrazovanie» = Chronicles of the United Fund of electronic resources "Science and Education", 2010, no.9, pp. 1.
3. Belousov B.N., Shukhman S.B. Prikladnaya mekhanika nazemnykh tyagovo-transportnykh sredstv s mekhatronnymi sistemami [Applied mechanics of ground towing vehicles with mechatronic systems]. Moscow, Agrokonsalt Publ., 2013, 612 p. (in Russian).
4. Lepeshkin A.V., Kurmaev R.Kh. Accuracy Enhancement for Vehicle Motion Mathematical Model on the Basis of Test Results. Izvestiya MGTU "MAMI" = Proceeding of MSTU MAMI, 2009, no. 1(7), pp. 46–56. (in Russian).
5. Lepeshkin A.V., Kurmaev R.Kh. Influence of axle misalignment in the control system of the continuously variable transmission of a three-axle all-wheel drive vehicle on its operation efficiency. Izvestiya MGTU "MAMI" = Proceeding of MSTU MAMI, 2007, no. 2(4), pp. 105-114. (in Russian).
6. Lepeshkin A.V. Criteria for assessing of energy efficiency of multidrive wheeled vehicles. Avtomobil'naya promyshlennost' = Automotive industry, 2010, no. 10, pp. 19-23. (in Russian).
7. Lepeshkin A.V. Indices for efficiency estimation of energy transfer and conversion by transmission and mover of wheeled vehicle. Traktory i sel'khozmashiny = Tractors and Agricultural Machinery, 2014, no. 11, pp. 29–36. (in Russian).
8. Bakhmutov S.V., Lepeshkin A.V., Shukhman S.B. Sposob avtomaticheskogo adaptivnogo upravleniya besstupenchatoi transmissiei mnogoprivodnogo transportnogo sredstvaTraktory i sel'khozmashiny [The method of automatic adaptive control of continuously variable transmission of multidrive vehicle]. Patent RF, no. 2397893, 2010. (in Russian).
9. Bakhmutov S.V., Lepeshkin A.V., Shukhman S.B., Kurmayev R.K. Ustroystvo avtomaticheskogo adaptivnogo upravleniya besstupenchatoy gidroobyemnoy transmissiyey nogoprivodnogo kolesnogo transportnogo sredstva. [Design of the automatic adaptive control of continuously variable hydrostatic transmission multidrive wheeled vehicle]. Patent RF, no. 2398149, 2010. (in Russian).
10. Kurmayev R.K., Malkin M.A. Improvement of Ecological and Energy Indexes of FWD Vehicles with Hydrostatic Transmission due to the Optimal Development of Electronic Control System. Izvestiya MGTU "MAMI" = Proceeding of MSTU MAMI, 2008, no. 2(6), pp. 51–56. (in Russian).
11. Shukhman S.B., Bakhmutov S.V., Malyarevich V.E. Schematics of automatic control of allwheel drive vehicle hydrostatic transmissions. Avtomobil'naya promyshlennost' = Automotive industry, 2007, no. 3, pp. 15–18. (in Russian).
12. Bakhmutov S.V., Lepeshkin A.V., Shukhman S.B., Kurmaev R.Kh. Correction algorithms to control hydrostatic transmissions of all-wheel drive vehicle at its straight movement. Avtomobil'naya promyshlennost' = Automotive industry, 2010, no. 1, pp. 14-18. (in Russian).
Review
For citations:
Lepeshkin A.V. Automatic Adaptive Control of Full-Flow Hydrostatic Transmission for Tri-axial All-Wheel Drive Vehicle. Machines and Plants: Design and Exploiting. 2015;(4):76-104. (In Russ.)
Views:
327
Email this article 