Control strategy for electric tracked vehicle pivot steering based on yaw velocity negative feedback

Pivot steering control strategy was researched for the electric tracked vehicle. A pivot steering dynamics model was built and then a control strategy for dual electric tracked vehicle based on yaw velocity negative feedback was proposed. Strategy firstly made motors' maximum torque as initial values to improve dynamics response capability, and then drew into yaw velocity negative feedback. Gain of yaw velocity feedback was controlled by steering wheel input signals. Influences of parameters M and k in negative feedback function on control effectiveness were analyzed, which provides theoretical basis for control system design. The strategy presented was validated by MATLAB simulation, the results show that control strategy is correct and efficient.