Abstract
The paper deals with the issues of directional stability control of self-propelled modular transporters (SPMT). A thorough analysis of the operating modes and types of the SPMT drive was carried out, as a result of which a decision was made on the advisability of using electric traction drive systems. As a result of comparing the traction and operational characteristics of various types of electric drive, a DC electric drive was chosen, which, first of all, is due to the high starting torque and its adjustment capabilities. An analysis of the required ratio of SPMT wheel speeds for various types of movement made it possible to formulate general requirements for the traction drive control system in terms of ensuring directional stability. The latter made it possible to substantiate the expediency of using systems of subordinate regulation by a traction electric drive. Also in the work, the calculation of the control system of the traction electric drive is carried out and the results of a model experiment are presented.
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