Steering Control of Dual-motor Coupling Drive Tracked Vehicle Based on PSO PID Parameter Optimization

被引：0
|
作者：
Li H. [1 ,2 ]
Liu H. [1 ]
Gai J. [2 ]
Li X. [2 ]
机构：
[1] School of Mechanical Engineering, Beijing Institute of Technology, Beijing
[2] Science and Technology on Vehicle Transmission Laboratory, China North Vehicle Research Institute, Beijing
来源：
Binggong Xuebao/Acta Armamentarii | 2024年 / 45卷 / 03期
关键词：
coupling mechanism; electric tracked vehicle; particle swarm optimization algorithm; steering control;
D O I：
10.12382/bgxb.2022.0788
中图分类号：
学科分类号：
摘要：
In order to improve the accuracy of the steering control system of electric tracked vehicle and the sensitivity of vehicle steering, a steering control strategy is studied, and a dynamic analysis is made on a dual-motor coupling drive electric tracked vehicle. A steering dynamics model of electric tracked vehicle is established based on Mathematical simulation software. Then a steering control strategy based on PID parameter optimization of particle swarm optimization algorithm is designed. The improved ITAE index is used as the objective function of particle swarm optimization algorithm to optimize the control parameters in the PID steering control strategy in real time, and the control parameters are dynamically adjusted to realize the optimal output of vehicle steering control system. Finally, the hardware-in-the-loop simulation platform and real vehicle test are used to verify the control strategy. The test results shows that the steering control strategy is effective. © 2024 China Ordnance Industry Corporation. All rights reserved.
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页码：916 / 924
页数：8
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