Abstract:

Pivot steering control strategy was researched for the electric tracked vehicle. A pivot steering dynamics model was built and then a control strategy for dual electric tracked vehicle based on yaw velocity negative feedback was proposed. Strategy firstly made motors' maximum torque as initial values to improve dynamics response capability, and then drew into yaw velocity negative feedback. Gain of yaw velocity feedback was controlled by steering wheel input signals. Influences of parameters M and k in negative feedback function on control effectiveness were analyzed, which provides theoretical basis for control system design. The strategy presented was validated by MATLAB simulation, the results show that control strategy is correct and efficient.

Key words: tracked vehicle, pivot steering, control strategy, simulation

摘要：

针对电传动履带车辆的原地转向问题进行了转向控制策略研究。建立了转向动力学模型,进而提出一种基于横摆角速度负反馈的双侧电传动履带车辆原地转向控制策略,将电机最大力矩作为力矩控制初始值以提高转向响应能力,引入横摆角速度负反馈并通过方向盘转角信号控制负反馈增益;对负反馈函数中的参数M与k对控制效果的影响进行了理论分析,为控制系统的设计提供了依据;进行了MATLAB仿真,仿真结果表明控制策略合理有效。

关键词: 履带车辆, 原地转向, 控制策略, 仿真