Research on Steering Stability Control of Electric Drive Tracked Vehicle

被引：1

作者：

Hou X. ^{[1
]}

Ma Y. ^{[1
]}

Xiang C. ^{[1
]}

机构：

[1] School of Mechanical Engineering, Beijing Institute of Technology, Beijing

来源：

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2024年 / 60卷 / 08期

关键词：

active disturbance rejection control; electric drive; stability; steering control; tracked vehicle;

D O I：

10.3901/JME.2024.08.233

中图分类号：

学科分类号：

摘要：

Tracked vehicles take the risk of sideslip and get out of control when turning at high speeds. Electric high-speed tracked vehicles can achieve a small turning radius at high speeds. The speed and torque output by the sprocket can be flexibly operated. Based on steering dynamics modeling and analysis, a steering stability control method for tracked vehicles is proposed. The steering dynamics model of tracked vehicles is established. The model considers the friction and sliding between the track shoes and the ground, and calculates the horizontal force on each track shoe during vehicle steering. The phase trajectory of steering is obtained by numerical calculation. The stability of the vehicle system is analyzed for the design of the steering controller. The dynamics model is simplified, and a non-linear active disturbance rejection controller(ADRC) and anti-sideslip strategy for tracked vehicle steering is designed based on the simplified model. The controller is verified on an electric tracked mobile platform. Compared with PID control, the proposed steering controller achieves stable yaw rate tracking in a wide range and reduces the RMSE of yaw rate tracking by 7.43%. The results show that the proposed anti-sideslip method significantly improves the stability and smoothness of the vehicle's high-speed steering. © 2024 Chinese Mechanical Engineering Society. All rights reserved.

引用

页码：233 / 244

页数：11

共 20 条

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