带耦合机构的串联式履带车辆直驶稳定性控制

In this paper, the output torque and speed characteristics of coupling mechanism and the influence on the driving stability of the hybrid tracked vehicle were analyzed firstly. Then a vehicle dynamics model was established based on the MATLAB/Simulink platform, considering the effect of slip ratio of a vehicle on the adhesion coefficient. To improve the straight driving stability, a control strategy was designed to calculate the compensation of motor torque by detecting speed changes on both sides of the vehicle. To solve the problem of parameter adaptability of PI controller, the self-learning function of neural network was applied to optimize PI controller parameters in real time. Finally, simulation analysis was carried out based on Simulink model. The simulation results show that, the horizontal displacement of the tracked vehicle can be controlled in 0.5%, which meets the requirements of national standards.