纯液压驱动滑移转向车辆直驶转向协调控制

Pure hydraulic drive skid-steering vehicles use components such as variable pumps and variable motors to construct the vehicle transmission system to achieve driving and steering. Both the driving pump and the steering pump are powered by the engine. The coupling between the driving and steering systems is serious,and changes in steering load can easily lead to vehicle spinning and engine flameout. To solve this problem, a coordinated control strategy was proposed for pure hydraulic drive skid-steering vehicles. On the basis of considering changes in the steering system load and engine throttle, the speed ratio was controlled by adjusting the displacement of the pump and motor in the driving system. Then the engine operating point was adjusted to meet the needs of both driving and steering system. The results of simulation showed that the proposed strategy could avoid vehicle spinning and engine flameout under changes in steering load, achieve normal driving steering and improve the steering safety of the vehicle.