Steering control strategy simulation for dual-motors independent driving tracked vehicles

Steering stability control is the key to the control of tracked vehicles with dual-motors independent driving. In this paper, a mixed control strategy has been designed in which the torque open-loop of the outside driving motor and the speed closed-loop of the inside drive motor are based on the vehicle slipping dynamics equations. The PID control based on BP neural network is applied to the torque control of the inside driving motor, to achieve the purpose of the trajectory controllability of the tracked vehicles under the control of torque. Simulation shows the correctness and feasibility of the control strategies.