Stable Steer Control of Electric Drive Tracked Vehicle Based on Equivalent Sliding Mode Technique with Conditional Integrator

doi:10.3969/j.issn.1000-1093.2016.08.002

Abstract

Abstract: The steer resistance of tracked vehicle has character of nonlinear and wide range change, and the drive system is very likely to be saturated dual to large vehicle inertia and constrained drive torque, while the drive motors of dual-motor tracked vehicle are independent with each other, which leads to regulate the drive torque per side to realize stable steer. In order to improve the stability of steer, the sliding mode technique with conditional integrator is applied to yaw rate control. A velocity-yaw rate steer control structure is developed through dynamics analysis. The equivalent conditional integral sliding mode control（ECISMC） algorithm is designed，which could increase the response speed through equivalent term feed-forward compensation and adopt the robust and rapid discontinuous nature of the sliding control outside boundary layer, enabling smooth transition to a PI control law with anti-windup inside boundary layer to eliminate track error by the conditional integrator approach. Co-simulation of Matlab and RecurDyn shows that the control algorithm has advantages of high precision, robust to disturbance, anti-windup and smooth control input, which could realize stable steer performance.

Key words: ordnance science and technology, tracked vehicle, electric drive, steer control, sliding mode control

CLC Number:

TJ81⁺0.323

ZENG Qing-han, MA Xiao-jun, LIAO Zi-li, WEI Shu-guang. Stable Steer Control of Electric Drive Tracked Vehicle Based on Equivalent Sliding Mode Technique with Conditional Integrator[J]. Acta Armamentarii, 2016, 37(8): 1351-1358.

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