Dual electric tracked vehicle small-radius turning control strategy

Small radius steering theory of dual-motor drive tracked vehicle was analyzed to get the relationship between the turning radius and the force on each side track. Results illuminate that when torques of both motor are fixed, small radius steering without a muzzle velocity comprise three stages, in the first stage the radius is stable but the velocity and the turning rate are speeding up, in the second stage the radius is falling, in the third stage both the radius and the velocity are stable. Simulation also shows that the only difference between the steer with and without muzzle speed is the first part after the steering beginning. Based on theory analysis, a control strategy was designed and simulations were made in MATLAB/Simulink. Results of the simulation show that control strategy is valid.