Research on turning control strategy based on fuzzy-pid algorithms for dual electric tracked vehicle

In order to improve the steering control performance of an electric tracked vehicle, the steering kinetic analysis was made at first and steering characteristics of tracked vehicle were researched. Then a turning control strategy based on fuzzy and PID algorithms was proposed for dual electric tracked vehicle to improve the turning trajectory control effect and enhance the steer dynamic response ability. Driver's steering intention was interpreted as inner motor braking torque while outside motor torque follow-up control was conducted by fuzzy strategy. Lengthways speed was adjusted by PID algorithm; the fuzzy control and PID algorithm were fused by fuzzy output factor. Simulation results indicate that algorithms presented can realize stable steering radius and response time can be shortened by about 0.7 seconds with this presented control strategy.