Neural networks PID control of steering torque for electronic differential tracked vehicle

According to kinematics and dynamics of tracked vehicle, an analog neural networks PID (ANNPID) control strategy of steering torque for electronic differential tracked vehicle was proposed. The ANNPID control strategy consisted of integrated torque control of two motors, ANNPID control and torque control of an induction motor. A steering control system scheme of electronic differential tracked vehicle with dual induction motors and independent driven was established to achieve torque distribution between two motors based on ANNPID and indirect rotor field oriented (IFOC)torque control of induction motor based on model reference adaptive control(MRAC). Experimental results of dual motors for running steering with different steering radius, 0.5B radius steering and center steering situation showed the effectiveness of the strategy, and indicated that electronic differential tracked vehicle in low-speed has good steering maneuverability.