Abstract
Compared with the traditional fuel aircraft tractor, the electric tractor using the four-wheel hub motor independent drive mode has the advantages of environmental protection, low costs, flexibility, high controllability, and convenience for later maintenance. The paper uses a four-wheel hub motor tractor and a linear vehicle model to propose a hierarchical steering control strategy. The upper layer control adopts the improved integrated sliding mode control algorithm with the yaw angular speed as the control goal to obtain the additional yaw torque. The additional yaw torque obtained is reasonably distributed to each wheel by the use of the rule distribution algorithm of the lower layer control, to obtain the optimal driving torque of each wheel. Finally, the steering stability of the electric aircraft tractor at different speeds is verified based on Simulink. The results show that the control strategy can better control the speed and stability of steering control of electric vehicles.
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