Study On Control Strategy Of Steering Dynamic Process Of Dual-motor Coupling Driving Tracked Vehicle

The development trends of tracked armoured vehicles include electric gun,electric armour,active suspension and integrated electronic information technology.These technologies require a lot of electrical energy.This is difficult to meet in traditional tracked vehicles.Therefore,electric drive technology is the development premise of the all-electric tank.By relying on a high power generator,the tank can meet the driving and the other electricity demands.Double sided motors coupling driving tracked vehicle is the research object of this paper.The content of my reseach is the vehicle steering control strategy.This is part of the vehicle control strategy.Firstly,steering performance of the vehicle was analyzed.And then a steady state steering dynamic calculation model was established.The model could be used to research the skid-steering of tracked vehicles on firm ground.According to calculation results,the steering stability of tracked vehicles was studied.It was found that the stability changed with the velocity and yaw velocity.The control variable of stability control was determined and the sudden drop point of steering stability was used as the stability threshold.Secondly,the steering control strategy was designed for the vehicle.By decoupling,the strategy could control the velocity and the yaw velocity respectively.The vehicle could follow the target velocity and the target yaw velocity.To follow the target velocity given by the driver,a fuzzy PID control strategy was designed,and the strategy adapted to different driving cycles.Considering that steering might be limited by the outer motor power,the yaw velocity control strategy adopted the anti-windup PID.On the MATLAB/Simulink platform,the dynamic simulation model and the steering control strategy model of the double motor coupling driving tracked vehicle were built,and the effectiveness of the control strategy was verified by off-line simulation.Thirdly,a multi-body dynamic model of a tracked vehicle was built to simulate the condition of sideslip and steering instability.Combining the results of simulation and steady-state calculation,the process of steering stability changes was further analyzed.The control strategy of high speed steering stability was established.Considering the nonlinear,steering stability control strategy used the sliding mode control.Then the effectiveness of the steering stability control was verified by the co-simulation of control system model and multi-body dynamics vehicle model.The instability of in-situ steering of the tracked vehicle was studied by simulation,and the control strategy of in-situ steering stability was proposed.The co-simulation results showed that the control strategy could make the vehicle realize the steering with its centroid staying in place.Finally,the hardware of vehicle steering controller was developed by using rapid prototyping technology.The steering control strategy and the controller were tested by the hardware in the loop experiment platform.The HIL experiment results showed that the steering control strategy was feasible and real-time.