Steering Control of Dual-motor Coupling Drive Tracked Vehicle Based on PSO PID Parameter Optimization

doi:10.12382/bgxb.2022.0788

Abstract

Abstract:

In order to improve the accuracy of the steering control system of electric tracked vehicle and the sensitivity of vehicle steering, a steering control strategy is studied, and a dynamic analysis is made on a dual-motor coupling drive electric tracked vehicle. A steering dynamics model of electric tracked vehicle is established based on Mathematical simulation software. Then a steering control strategy based on PID parameter optimization of particle swarm optimization algorithm is designed. The improved ITAE index is used as the objective function of particle swarm optimization algorithm to optimize the control parameters in the PID steering control strategy in real time, and the control parameters are dynamically adjusted to realize the optimal output of vehicle steering control system. Finally, the hardware-in-the-loop simulation platform and real vehicle test are used to verify the control strategy. The test results shows that the steering control strategy is effective.

Key words: electric tracked vehicle, particle swarm optimization algorithm, steering control, coupling mechanism

CLC Number:

TJ811

LI Huanhuan, LIU Hui, GAI Jiangtao, LI Xunming. Steering Control of Dual-motor Coupling Drive Tracked Vehicle Based on PSO PID Parameter Optimization[J]. Acta Armamentarii, 2024, 45(3): 916-924.

Figures/Tables 11

Fig.1 Structural sketch of dual-motor coupling drive transmission

Fig.2 Steering dynamics of tracked vehicle

Fig.3 Flow chart of PSO algorithm

Fig.4 Design block diagram of steering control strategy

Fig.5 Hardware-in-the-loop simulation platform

Fig.6 Step response comparison chart

Fig.7 16km/h-speed steering simulation diagram

Fig.8 30km/h-speed steering simulation diagram

Fig.9 18km/h-speed steering test diagram

Fig.10 35km/h-speed steering test diagram

Fig.11 Comparison of steering trajectories

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