Abstract
Tracked vehicles take the risk of sideslip and get out of control when turning at high speeds. Electric high-speed tracked vehicles can achieve a small turning radius at high speeds. The speed and torque output by the sprocket can be flexibly operated. Based on steering dynamics modeling and analysis, a steering stability control method for tracked vehicles is proposed. The steering dynamics model of tracked vehicles is established. The model considers the friction and sliding between the track shoes and the ground, and calculates the horizontal force on each track shoe during vehicle steering. The phase trajectory of steering is obtained by numerical calculation. The stability of the vehicle system is analyzed for the design of the steering controller. The dynamics model is simplified, and a non-linear active disturbance rejection controller(ADRC) and anti-sideslip strategy for tracked vehicle steering is designed based on the simplified model. The controller is verified on an electric tracked mobile platform. Compared with PID control, the proposed steering controller achieves stable yaw rate tracking in a wide range and reduces the RMSE of yaw rate tracking by 7.43%. The results show that the proposed anti-sideslip method significantly improves the stability and smoothness of the vehicle's high-speed steering.
| Translated title of the contribution | Research on Steering Stability Control of Electric Drive Tracked Vehicle |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 233-244 |
| Number of pages | 12 |
| Journal | Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering |
| Volume | 60 |
| Issue number | 8 |
| DOIs | |
| Publication status | Published - Apr 2024 |