Configuration design and control of hybrid tracked vehicle with three planetary gear sets

Abstract

The hybrid tracked vehicles(HTV) usually adopt series hybrid powertrain with extra steering mechanism, which has relatively low transmission efficiency and reduces the flexibility of structural arrangement. To overcome the disadvantages, a new kind of single-mode powertrain has been proposed. The power-split hybrid powertrain is composed of three planetary gear (PG) sets connected to one engine, left and right track outputs, and three motors. The proposed powertrain can realize steering while going forward by controlling the output torque on each side without extra steering mechanism or steering shaft. Due to the diversity of the connection way between components and planetary gear sets, a rapid configuration design approach is proposed for the design selection of HTV. The automated dynamic modelling method can show the one-to-one correspondence with the selected feasible groups by establishing two characteristic matrices, which is more simple than other researches. The analytically-based method is proposed to classify all possible connection designs into several groups to decrease the searching scope with improved design efficiency. Finally, the optimal control strategy is used to find the design with optimal fuel economy under typical condition of HTV. The case study is implemented by the proposed design approach which demonstrates better design performances compared with the existing series-hybrid HTV.

摘要

混合动力履带车辆通常采用带有额外转向机构的串联式方案,但其相对效率和布置灵活性较低。为克服这些缺陷,本文提出了一种新型单模式传动系统方案。所提出的功率分流混合动力传动系统是由三排行星传动组成,分别与一个发动机,左右两侧输出轴和三个电机组成。该系统省去了转向横轴,能够通过控制两侧履带转矩实现行进中转向。由于部件与三排行星传动的连接方式多样,本文提出了一种针对传动系统配置方案选型的快速构型设计方法。其中,用自动动力学建模方法建立了两个动力学特征矩阵,能够与配置中部件与节点的连接方式一一对应。另外,提出了基于规则分析的筛选方法,将所有候选配置方案进行分类,大幅减少搜索规模并提升搜索效率。最后,在典型工况下采用近优能量管理策略对候选构型进行了能耗分析。仿真结果表明,与现有串联式混合动力履带车构型相比,本文提出的构型性能更优。