Abstract
A steering stability control method for four-motor distributed drive high-speed tracked vehicle is proposed to improve handling stability and safety. The dynamic analysis and calculation of center steering, small radius steering and large radius steering for the four-motor distributed drive tracked vehicle are carried out respectively. In order to meet the power requirements of the outer drive motor in high-speed steering, a steering coupling system is constructed, which uses a steering motor to couple with the traction motor at the rear left or rear right side of the tracks respectively. The steering stability control strategy with the steering coupling takes the yaw angular velocity and longitudinal speed of the vehicle as the control objectives, and a direct yaw torque control strategy is proposed to optimize and distribute the torque of four traction motors in real time according to different steering conditions, and considers the synchronization of two traction motors on one side of the track, so as to improve the steering stability, safety, comfort and steering trajectory performance of the four-motor drive tracked vehicle. The simulation results of 0B, 0.2B, 2B and 8B steering radius show that the proposed control strategy with coupling system can ensure the steering stability for the four-motor distributed drive high-speed tracked vehicle.
Highlights
Tracked vehicles have better driving performance under severe working conditions, strong passing capacity, and have important applications in military, agricultural, and fire protection fields [1]
We propose a steering control stability control method for four-motor driven tracked vehicles
Aiming at the phenomenon that the power of the outer drive motor is insufficient when the four-motor distributed drive tracked vehicle is turning at high speed and large radius, a new steering coupling system is proposed in this paper and a direct yaw torque control strategy is proposed
Summary
Tracked vehicles have better driving performance under severe working conditions, strong passing capacity, and have important applications in military, agricultural, and fire protection fields [1]. According to the table 4 and formula (1), when the turning radius of the tracked vehicle is 10B, the steering speed reaches a maximum of 50km/h At this time, the traction motor and steering motor output the peak speed and peak power, that is, Pm = Ps = 2kW, nm = ns = 4500r/min, nr = nm/i0 = 1500r/min◦ From this we can get the planetary carrier speed:.
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