Straight-line running control for electric drive tracked vehicles on transverse slopes

The dynamic model, the predictive model and the control model of electric drive tracked vehicles were derived. Based on the identification of driving intention of driver and moving states of the vehicles and comparing with traditional tracked vehicles, a new straight-line running predictive control strategy for electric drive tracked vehicles was proposed. In accordance with transverse slope angles and variations of different roads and speeds, a straight-line running control system of vehicles was modeled and simulated by using Matlab/Simulink. The simulation results were obtained at different conditions. The results proved the models and the predictive control strategy to be correct.