Study On Control Technology Of Double Motor Synchronous Servo In Tracked Vehicle

At present,the traditional PID speed control algorithm is often used for single-sided motors of tracked vehicles.This algorithm has the disadvantages of large speed tracking error and low servo performance;In addition,double-sided motors often adopt a parallel synchronous control strategy.When the double-sided motors are disturbed by different torques,there is a problem of large synchronization error.In order to improve the synchronous servo performance of the two-sided motor of the tracked vehicle,this paper uses an improved PID cross-coupling synchronous control strategy to control it.This algorithm has the advantages of short start-up time,small overshoot,and high synchronous servo accuracy.The main research contents of this article are as follows:(1)The kinematics and dynamics models of tracked vehicles were established.Based on the analysis of the source of dual-motor synchronization error,the dual-axis synchronization error is reduced from the single-axis and dual-axis aspects,and the dual-motor synchronous servo performance is improved.(2)Because BLDCM has many advantages such as fast dynamic response,high efficiency,low noise and long life,it is used as the driving motor of tracked vehicle.In order to further study the servo control performance of the brushless DC motor,its mathematical model was established,and the system model was built in Matlab/Simulink according to the mathematical model.Under the control of the traditional PID algorithm,the brushless DC motor has the disadvantages of large speed tracking error and poor servo performance.This paper proposes an improved PID algorithm based on the error amplification factor for its shortcomings.The simulation results show that the improved PID algorithm has the advantages of fast response,small overshoot,and strong anti-interference ability,which effectively reduces the speed tracking error of the motor and improves the servo control performance of the motor.(3)In order to improve the synchronous control accuracy of the two-sided motor of the tracked vehicle,the simulation and comparative analysis of the parallel synchronous control strategy,the master-slave synchronous control strategy and the cross-coupling synchronous control strategy were carried out.The simulation results show that the cross-coupling synchronous control strategy can reduce the synchronization error of dual motors and improve the accuracy of dual motors synchronization control.(4)A tracked vehicle experimental platform was built to compare the parallel synchronization control strategy based on traditional PID with the cross-coupling synchronization control strategy based on improved PID.The experimental results show that under the control based on the improved PID cross-coupling synchronous control strategy,the starting time of the single-sided motor of the tracked vehicle is shortened by 0.005 s,the overshoot is reduced by 89.2%,and the single-axis servo performancehas been significantly improved;The synchronous speed error of the double-sided motor has been reduced by 88.3%,the synchronous displacement error has been reduced by68.1%,the track yaw amount has been reduced by 0.56 m,and the accuracy of the two-axis synchronization has been significantly improved.In summary,the synchronous servo performance of the double-sided motor of the crawler has been significantly improved.