Steering Control of Electric Drive Tracked Vehicle Considering Tracks' Skid and Slip

doi:10.3969/j.issn.1000-1093.2021.10.005

Abstract

Abstract: The steering control strategy of electric drive vehicle considering tracks' skid and slip is researched to eliminate the influence of track' skid and slip on kinematics control of electric drive tracked vehicle in steering process and realize the accurate control of vehicle steering trajectory. The correction factors of steering radius and steering angular velocity, which characterize the slip characteristics of tracked vehicle in steering process, are analyzed. Based on the analyzed results, a steering control strategy considering the tracks' skid and slip is proposed, in which the correction factors of steering radius and the steering angular velocity are used to modify the revolution control command of drive motor speed. The comparative simulations and experiments of the steering control strategy without and with considering the tracks' skid and slip were carried out. The results show that the steering control strategy with considering the tracks' skid and slip can accurately achieve the steering control objectives, which verifies the feasibility of the proposed steering control strategy.

Key words: electricdrivetrackedvehicle, skidandslip, steeringcontrol, steeringradiuscorrectionfactor, steeringangularvelocitycorrectionfactor

CLC Number:

TJ810.3⁺23

GAI Jiangtao， LIU Chunsheng， MA Changjun， SHEN Hongji. Steering Control of Electric Drive Tracked Vehicle Considering Tracks' Skid and Slip[J]. Acta Armamentarii, 2021, 42(10): 2092-2101.

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