Research on intelligent engine control of unmanned tracked vehicle based on position electronic governor

In order to adapt to the development of the ground unmanned vehicle, the paper studies the matching problem of the engine during the steering process of the unmanned vehicle, and proposes an coordinated control strategy of engine during the vehicle steering process based on the independent design of the engine position-type electronic governor. In this paper, the GMM-HMM model is built to predict the steering mode of the unmanned vehicle, and then, the steering load identification and the parameters of the engine controller are adjusted in advance to improve the performance of engine response. Meanwhile, the GMR model is used to estimate the vehicle steering radius and the steering load. In the process of switching the vehicle's steering mode, the engine controller responds to the demand for the speed control based on the steering load to reduce the disturbance of the vehicle speed during the steering process. The test results show that the engine controller has fastness, stability and resistance to load disturbances for meeting the requirements of unmanned tracked vehicles to the engine response, and the proposed coordinated control strategy can effectively reduce the speed disturbance and increase the stability of steering in the steering process.