四轮驱动履带车辆转矩策略设计与仿真分析

Design and Simulation Analysis of Torque Strategy for Four-Wheel Drive Tracked Vehicles

摘要: 针对传统四轮驱动履带车辆固定平分转矩分析方案忽视载荷转移、易打滑且动力浪费的缺陷，本文围绕多主动轮驱动履带车辆转矩协调分配问题，通过“理论建模–策略设计–仿真验证”路径，提出并验证基于动态载荷分配的转矩控制策略。首先，针对工况对履带车辆进行受力分析，建立平衡方程，推导转矩公式，明确轴荷是转矩分配的核心依据(无载荷转移近似均分，有载荷转移时按轴荷动态调整)。其次，设计三层控制架构，搭建RecurDyn-Simulink联合仿真模型，实现工况识别、转矩计算与分配。最后，以四主动轮平分转矩方案为对照组进行仿真分析。结果表明：所提策略使车速波动降低50%~60%，电机输出转矩降低20%~25.6%，电机平均输出总转矩降低20%~25.6%，直行加速工况电机输出总功率降低9.95%，爬坡工况电机输出总功率降低1.45%，更节约能量，为履带车辆动力控制优化提供了支撑。

Abstract: Aiming at the shortcomings of the traditional four-wheel drive tracked vehicle’s fixed equal torque distribution scheme, which neglects load transfer, is prone to slippage and wastes power, this paper focuses on the torque coordination and distribution problem of multi-active-wheel drive tracked vehicles. Through the “theoretical modeling-strategy design-simulation verification” path, a torque control strategy based on dynamic load distribution is proposed and verified. Firstly, the force analysis of the tracked vehicle under different working conditions is conducted, the equilibrium equation is established, and the torque formula is derived. It is clarified that the axle load is the core basis for torque distribution (no load transfer means equal distribution, and dynamic adjustment according to axle load when there is load transfer). Secondly, a three-layer control architecture is designed, and a RecurDyn-Simulink co-simulation model is built to realize working condition identification, torque calculation and distribution. Finally, a simulation analysis is conducted with the four-wheel equal torque distribution scheme as the control group. The results show that the proposed strategy reduces the vehicle speed fluctuation by 50%~60%, reduces the motor output torque by 20%~25.6%, reduces the average total motor output torque by 20%~25.6%, reduces the total motor output power by 9.95% in the straight-line acceleration condition, and reduces the total motor output power by 1.45% in the climbing condition. It is more energy-efficient and provides support for the optimization of tracked vehicle power control.