Pivot steering control and D2P real-time simulation for electric tracked vehicle

In order to improve the pivot steering performence of electric tracked vehicle, a control strategy using dual electric motor torque control was proposed on the basis of pivot steering kinetic model. First, motors' maximum torque was set as the initial value so as to improve the dynamics response speed. Then, driver steering wheel angular signal was introduced into yaw velocity negative feedback gain for the driver to control the steering speed. Driver and controller in the loop simulation platform for tracked vehicle pivot steering was built on the basis of D2P prototype development system. The real-time simulation results show that the control strategy is correct, effective and real-time.