| 铰接式履带车深海直线行走在EASY5仿真平台上的实现 |
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| 引用本文： | 陈波,李力,李小飞.铰接式履带车深海直线行走在EASY5仿真平台上的实现[J].长沙航空职业技术学院学报,2009,9(1):53-58. |
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| 作者姓名： | 陈波 李力 李小飞 |
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| 作者单位： | 1. 长沙航空职业技术学院,湖南,长沙,410014;中南大学机电工程学院,湖南,长沙,410012
2. 中南大学机电工程学院,湖南,长沙,410012 |
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| 摘 要： | 提出铰接式履带车液压系统的设计方案，并在EASY5下完成液压和铰接式履带车直线行走下的数学建模，针对履带车辆在复杂地形中行走跑偏的问题，提出对方位偏差信号的PID控制；仿真结果表明，该控制方案可以很好地消除大扰动对车辆直线行走的影响，抑制车辆的跑偏问题。
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| 关 键 词： | 铰接式履带车 数学建模 EASY5 直线行驶 PID控制 |
Study of Linear Run of Deep Ocean Articulated Tracked Vehicles Based on EASY5 Simulation Platform |
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| CHEN Bo,LI Li,LI Xiao-fei.Study of Linear Run of Deep Ocean Articulated Tracked Vehicles Based on EASY5 Simulation Platform[J].JOurnal of Changsha Aeronautical Vocational and Technical College,2009,9(1):53-58. |
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| Authors: | CHEN Bo LI Li LI Xiao-fei |
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| Institution: | 1 School of Mechanical and Electrical Engineering;Central South University;Changsha Hunan 410083;2 Changsha Aeronautical Vocational and Technical College;Changsha Hunan 410014 |
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| Abstract: | This article puts forward a hydraulic system of the articulated tracked vehicle.A dynamic and hydraulic model of the vehicle has been accomplished under the easy5 software.When the vehicle comes across the abrupt resistance in its linear run,the vehicle will fall into the direction error.In order to decrease the errors the PID arithmetic is used in the system.The simulation has demonstrated that this method can reach a better result. |
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| Keywords: | EASY5 |
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