Steering Control Based on Fuzzy Feedforward and Feedback for Dual-motor Electric Drive Tracked Vehicle

doi:10.3969/j.issn.1000-1093.2020.08.023

Abstract

Abstract: The steering control of dual-motor electric drive tracked vehicle has slow target tracking and poor anti-interference performance. For the above problems, a fuzzy feedforward and feedback steering control algorithm based on direct torque control was proposed by analyzing the vehicular dynamic performance and the driver controlling signal. The steering angle and the changing rate are set as the inputs of fuzzy feedforward control, based on which the target torques of the dual motors are compensated in feedforward. Furthermore, the deviation and changing rate of steering radius are set as the inputs of the fuzzy feedback control, from where the target torque difference is revised in feedback. Then the effectiveness and feasibility of the control strategy are validated by building and using a hardware in-loop real-time simulation platform with dSPACE. The results show that the fuzzy feedforward and feedback control can effectively shorten the dynamic response time of steering when the tracked vehicle turns at different radii and different speeds, and the anti-interference of steering trajectory is improved, which can realize faster and more stable steering.

Key words: electricdrivetrackedvehicle, steeringcontrol, fuzzyfeedforwardandfeedbackcontrol, hardwarein-loop

CLC Number:

TJ810.3⁺44

ZHANG Jie, YUAN Dong, ZHANG Peng, WEI Shuguang. Steering Control Based on Fuzzy Feedforward and Feedback for Dual-motor Electric Drive Tracked Vehicle[J]. Acta Armamentarii, 2020, 41(8): 1688-1696.

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