Steering compensation control strategy of electric tracked vehicle

 

 

TU Qunzhang, ZHANG Xiaochen, PAN Ming, FENG Xia, ZHENG Weijie

 

(College of Field Engineering, PLA University of Science and Technology, Nanjing 210007, China)

 

 

Abstract: Aiming at the problem of sensitivity and stability in steering system of bilateral electric drive tracked vehicle, the steering control strategy and its appraisal method was investigated. The control oriented models of tracked vehicle dynamics and electric motor were established. On the basis of early designed control strategy, a novel steering compensation control strategy based on fuzzy control was proposed. The strategy was evaluated on a drivercontroller based on HILS (hardwareintheloop simulation) platform which built with the hardware of dSAPCE. The results indicate that the fuzzy based steering control is superior to direct torque control in steering and return response (time reduced by 0.873s and 0.550s), the control strategy is simple and efficient, which will offer an effective way to improve the response sensitivity and steering stability of electric drive steering system.

 

Key words: mechanotronics; steering control; fuzzy control; hardwareintheloop simulation (HILS)