Theoretical study on the torque control project for hydrostatic drive tracked vehicles

From the whole vehicle steering dynamics and kinematics aspect, motor output torque was controlled by given inside and outside motor objective torques; thereby the whole vehicle steering motion was achieved. And theoretical analysis was presented about above the torque control method. The relationship between inside/outside motor torques (its sum/difference) and relative steering radius, steering angular velocity and road parameters were established in the case of considering the centrifugal force. The results provide a theoretical basis for making torque control strategy.