Research On Drive System Of Electric Tracked Vehicle For Algae Removal On Channel Slope

The South-to-North Water diversion project has effectively solved the problem of water scarcity in the North China Plain,especially in the Beijing-Tianjin-Hebei region.However,the long-term uninterrupted water transfer has resulted in the growth of large amounts of algae,which may dissolve into the water again and cause secondary pollution.There are two common methods of slope algae cleaning: manual cleaning and large algae removal equipment onshore cleaning.There are a series of problems such as low cleaning efficiency and high cost.Therefore,efficient,clean and miniaturized equipment is urgently needed to solve the above problems.In view of complex terrain,most common vehicles are driven by track,and most of them are currently concentrated in large machinery fields.The form of energy is internal combustion engine,which cannot meet the operation requirements of the South-tonorth water diversion project.Aiming at the complex operating environment of the slope of the South-to-North Water Transfer project,this paper provides technical support for the research and development of the electric tracked vehicle for the slope of the channel for the removal of algae through the study of the drive system of the electric tracked vehicle.According to the analysis of working conditions and load,the overall driving scheme of the two-motor driver(MCU)based on the drive controller is determined,and the differential speed of the left and right wheels is realized by the separate control of the two motors.The design determines the battery pack,motor,MCU,transmission,track,drive wheel,drive shaft and other key components of the drive system.The drive control strategy under different working conditions was developed,and the control strategy simulation of the drive controller adjusting the target speed under straight working conditions was completed based on Simulink.The results showed that:Compared with the remote control speed direct drive method,the maximum speed error and angular displacement error of this control algorithm are reduced by 81.7% and84.2%,and the time for the motors on both sides to reach the same speed is reduced by11.1%.On this basis,the hardware of the driver controller is designed and developed,the software of the driver controller is written,and the driver controller design is completed.This design has been applied in a crawler slope algae removal vehicle project of the middle Route Bureau of South-to-North Water Transfer Project.Through the joint debugging and testing of the hardware and software of the vehicle,the results show that the total weight of the driving system is 188kg;Climbing slope 35°;Traveling speed0.66m/s;The average offset of 50 m straightness test is 0.77%,which meets the requirements of all indexes proposed by the project client.