Dynamic Coordination-Decoupling Control Strategy for Torsional Vibration Suppression and Power Stability in Electro-mechanical Transmission Systems under Asymmetric Load Conditions

With the rapid electrification of construction machinery, the Electro-Mechanical Transmission (EMT) system for heavy-duty tracked vehicles has emerged as a core power unit. The coupling effects of its dual power output ports under asymmetric load conditions exacerbate the coordination challenges between torsional vibration suppression and speed stability control, leading to transmission failures in complex transient scenarios such as unilateral track sinking or encountering obstacles. To address this, the paper investigates the dual-motor coupled-drive EMT, revealing the impact mechanisms of vibration energy coupling effects on dynamic behaviors under asymmetric loads. Based on the discovery of this effect, an EMT input-output decoupling control framework is proposed. By employing dynamic compensation for asymmetric disturbances and incorporating considerations of the dynamic response-elastic oscillation trade-off into the control framework, an EMT dynamic coordination-decoupling control strategy for torsional vibration suppression and power stability is ultimately developed. Simulation and experiments validate that this strategy is capable of addressing the dynamic response-elastic oscillation trade-off under asymmetric load conditions, significantly reducing system torsional vibrations while maintaining output power stability.