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LI L , ZHU H J , CHEN J , et al. Road friction identification algorithm for the vehicle stability control [J ] . Journal of Mechanical Engineering , 2014 , 50 ( 2 ): 132 - 138 . (in Chinese) The identification of road friction plays an important role in the vehicle state observation and stability control system. When the vehicle comes across a critical situation, the estimation of road friction should be reliable and timely for the electronic stability control system(ESC), which is a harsh requirement for the practicality and reliability of the algorithm. So two indexes based on the bias of the yaw rates and that of the lateral accelerations are proposed. These two indexes can reflect the nonlinearity of the vehicle totally. According to the relationship between the nonlinearity and the use of the friction in the lateral direction, the friction-compensation algorithm is put forward. When estimating the road friction, treat the lateral acceleration as the base value compensated with the estimation error to get the original friction, which then is passed through a generalized filter to reduce the oscillation for a better control result. Experimental vehicle tests validate the effectiveness of the estimation of road friction and torque control of ESC based on the estimation algorithm gives a good result.

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盖江涛 , 黄守道 , 周广明 , 等 . 双电机耦合驱动履带车辆自适应滑模转向控制 [J ] . 兵工学报 , 2015 , 36 ( 3 ): 405 - 411 . DOI: 10.3969/j.issn.1000-1093.2015.03.004 http://doi.org/10.3969/j.issn.1000-1093.2015.03.004 针对双电机耦合驱动履带车辆转向动力学模型具有多输入多输出（MIMO）、非线性且参数不确定的特点，对系统进行解耦，分解为车速控制系统和转向角速度控制系统。在车速控制系统中为实现车速跟踪误差的收敛，根据期望车速与当前速度信息，提出了鲁棒滑模变结构控制算法；在转向角速度控制系统中，提出了针对转向角速度的模糊滑模自适应控制算法。通过“驾驶员—控制器”在环的双电机耦合驱动履带车辆实时仿真系统，对控制算法进行了仿真实验验证，证明了该控制算法的有效性。

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曾庆含 , 马晓军 , 廖自力 , 等 . 双侧电驱动履带车辆等效条件积分滑模稳定转向控制 [J ] . 兵工学报 , 2016 , 37 ( 8 ): 1351 - 1358 . DOI: 10.3969/j.issn.1000-1093.2016.08.002 http://doi.org/10.3969/j.issn.1000-1093.2016.08.002 履带车辆转向阻力随行驶状态呈现非线性、大范围变化的现象，且由于车辆惯性大、电机驱动能力有限，易进入深度饱和状态，而双侧电机动力相互独立，要实现车辆全速度范围的稳定转向必须对两侧力矩进行有效控制。针对以上问题，设计了一种横摆角速度控制律。开展转向动力学分析，提出速度、横摆角速度转向控制结构；设计了一种带等效控制项的条件积分滑模控制算法，通过引入等效控制项，提高系统响应速度，减小滑模抖振；通过引入条件积分控制项，使滑模控制项边界层外与经典滑模性能一致，鲁棒性强，边界层内平滑切换为Anti-Windup结构的PI控制，便于消除误差，抑制积分饱和。Matlab与RecurDyn联合仿真表明，提出的算法具备跟踪能力强、抗扰动和饱和、输出控制量平滑的优点，能够实现车辆稳定转向控制。

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王红岩 , 王钦龙 , 芮强 , 等 . 高速履带车辆转向过程分析与试验验证 [J ] . 机械工程学报 , 2014 , 50 ( 16 ): 162 - 172 . 为了准确分析高速履带车辆在转向过程中运动学和动力学参数的变化规律，在考虑高速履带车辆转向离心力和履带滑动的条件下，建立计算两侧履带与地面之间的作用力、转向阻力矩、转向半径、转向角速度等参数的运动学、动力学模型。分析研究结果表明，转向时履带与地面之间的滑动使两侧履带的作用力随转向半径的增大而逐渐减小，离心力对车辆转向性能也有一定程度的影响；与传统转向理论的计算结果相比，考虑履带与地面之间滑动时的转向半径是传统理论计算值的1.5倍左右，转向角速度是传统理论计算值的67%左右。实车试验结果表明，文中所建立的转向模型具有较好的准确性，更符合高速履带车辆转向的实际情况。研究结果可为新型高速履带车辆转向机构的设计和转向过程控制提供理论支持。

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GAI J T , HUANG S D , ZHOU G M , et al. Design method of power coupling mechanism scheme for double side motors coupling drive transmission [J ] . China Mechanical Engineering , 2014 , 25 ( 13 ): 1739 - 1743 . (in Chinese) According to the characteristics of transmission of tracked vehicle, a new double side motors coupling drive transmission scheme was put forward. Based on planetary transmission components comprehensive analysis method, the basic principle of component combination was given for power coupling mechanism scheme optimum seeking. And the rotational speed and torque mathematical transformation models were set up between input and output. A new characteristic parameter was put forward to represent renewable power utilization as a quantitative evaluation index. So this paper proposed a suitable design method for double input double output coupling mechanism scheme. Accordingly, a coupling mechanism example was designed. The results show that coupling mechanism can realize steering renewable power mechanical recirculation. Compared with double side motors independently drive transmission, power demand of coupling drive transmission is only 0.65 times. Meanwhile, the correctness and feasibility of the design method were also validated.