Adaptive Sliding Mode Steering Control of Double Motor Coupling Drive Transmission for Tracked Vehicle

doi:10.3969/j.issn.1000-1093.2015.03.004

Abstract

Abstract: Steering dynamic model of double motor coupling drive transmission for tracked vehicle has the features of MIMO, parameter-uncertainty and nonlinearity. The steering system is transformed into a forward speed control subsystem and a steering speed control subsystem by dynamic decoupling control algorithm.For the forward speed control subsystem, a robustness sliding mode control algorithm is proposed to converge the speed errors based on the desired speed and the current speed. For the steering speed control subsystem, a steering speed control algorithm is designed based on the fuzzy adaptive sliding-mode algorithm to ensure the tracking control of the reference steering speed. The steering tracking control is verified by real-time simulation system.The results show that the proposed control algorithm is effective.

Key words: ordnance science and technology, tracked vehicle, steering, decoupling control, sliding mode variable structure

CLC Number:

GAI Jiang-tao， HUANG Shou-dao , ZHOU Guang-ming, LIU Yi, MA Tian. Adaptive Sliding Mode Steering Control of Double Motor Coupling Drive Transmission for Tracked Vehicle[J]. Acta Armamentarii, 2015, 36(3): 405-411.

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