Torque-regulating control strategy of electric tracked vehicle driven by dual-motor

To reduce control task and difficulty of dual-motor drive for speed-regulating control strategy of tracked vehicle, torque-regulating control strategy was proposed. Theoretical fundamentals and feasibility of torque-regulating control strategy were analyzed based on the dynamical characteristic of tracked vehicle driven by dual-motor. Signals of acceleration pedal, braking pedal and steering angle were mapped to control variables γ and ξ. Torque-regulating control strategy was designed based on motor's speed-torque characteristic. The model of tracked vehicle driven by dual-motor was established in Simulink/Stateflow environment, which is composed of the modules for input of driver, torque-regulating control strategy, motor and controller, and vehicle dynamics. The feasibility and effectiveness of torque-regulating control strategy were proved by results simulated in different road surfaces and working conditions and obtained in field experiment. Torque-regulating control strategy is applied to the vehicle successfully.