Electric tracked vehicle real-time simulation of dual-motor driving control with driver-glogal controller in-loop

To validate the feasibility of control scheme in the initial process of system design, driver and global controller is combined into simulation loop of electric tracked vehicle's dual-motor driving control. Dual-motor driving electric tracked vehicle and its drive system is modeled. Real driver's input devices and global controller are applied. Different CAN protocols are matched with different control strategies. Controlled object and its plant are simulated based on its mathematic model by real-time computation in dSPACE. The real-time simulation platform of electric tracked vehicle's dual-motor driving control with driver, global controller and CAN in-loop is built up. Real-time simulation with the input of driver's operates is performed based on the platform. Simulation results show the real global controller's algorithm and software code are verified and the maneuverability with different control strategy is analyzed and evaluated rapidly based on the simulation platform.