Modeling and simulation of steering control strategy for dual-motor coupling drive tracked vehicle

Aiming at the problems of unsatisfied control consistency and slow steering response in the steering process of dual-motor drive electric tracked vehicles (2METVs), a novel steering control strategy for the dual-motor coupling drive system is proposed in this paper. By analyzing the motor torque and power required by dynamic steering for 2METVs, a permanent magnet synchronous motor based on the space vector modulation is selected to make up the motor drive system module. This paper employs the bond graph theory to obtain the state equations of transmission system, and then, the transmission system modeling for a dual-motor coupling drive electric tracked vehicle (2MCETV) is completed. The dynamic module of the tracked vehicle is set up according to the dynamics and kinematics theory of the tracked vehicle. A torque–speed integrated steering control strategy is designed to achieve vehicle cornering ability enhancement. Then, models of the 2MCETV and the proposed control strategy are established in MATLAB/Simulink to evaluate the control effect for the 2MCETV with different steering radiuses. The simulation results show that the tracked vehicle with the designed strategy can achieve the desired steering angular velocity response, and the steering maneuverability of the vehicle is also improved.