Abstract
It is significant to improve the steering maneuverability of dual-motor drive tracked vehicles (2MDTVs), which have wide applications in the tracked vehicle industry. In this paper, we focus on the problem of insufficient propulsion motor power during high-speed steering. Some correction formulas are introduced to improve the accuracy of the mathematical model. A steering coupling system and an optimization-based torque distribution control strategy is adopted to improve the lateral stability of the vehicle. The 2MDTV model and the proposed control strategy are built in the multi-body software RecurDyn and the control software Matlab/Simulink, respectively. According to the real-time steering simulation by the hardware-in-the-loop (HIL) method, the 2MDTV with the coupling device outputs more power during high-speed steering. The results show the speed during steering is quite high though, the stability of the vehicle can be achieved due to using the torque distribution strategy, and the steering maneuverability of the vehicle is also improved.
Highlights
With the development of modern electronic technology, traditional mechanical transmissions may possibly be replaced by electric drive systems due to the application of advanced electrical equipment like high power density motors and power inverters
In this paper, according to the dynamic analysis of the 2MDTV, we found that the power
In this paper, according to the dynamic analysis of the 2MDTV, we found that the power required required by the propulsion motor is quite large during high-speed steering situations
Summary
With the development of modern electronic technology, traditional mechanical transmissions may possibly be replaced by electric drive systems due to the application of advanced electrical equipment like high power density motors and power inverters. By real-time control of the speed or torque of the traction motor on both sides, the vehicle can achieve continuously variable steering, which is called electronic control differential steering (ECDS). This comprehensive electronic differential steering control can significantly improve the steering stability and trajectory tracking [4]. The output torque of the outside sprocket increases with the coupling assembly, but the scheme with two main motors and two auxiliary motors does not reduce the total power requirements for motors in 2MDTVs. A steering coupling system composed of a steering motor, two planetary gear couplers and two propulsion motors is designed to improve the output power [13]. A real-time electronic steering control simulation by the Hardware-in-the-Loop (HIL) method verifies the effectiveness of the coupling device and the proposed strategy
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