Steering on Ramp Control Strategy of Double Motor Coupling Drive Transmission for Tracked Vehicle
ZENG Gen1,2， WANG Weida1， GAI Jiangtao2， MA Changjun2， LI Xunming2， LI Huanhuan2
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(1.School of Mechanical and Vehicle Engineering, Beijing Institute of Technology, Beijing 100081, China;2.China North Vehicle Research Institute，Beijing 100072，China)
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Published
2021-11-03
Issue Date
2021-11-03
Abstract
The steering on ramp is a typical driving condition for tracked vehicle，and the control of steering on ramp is difficult because the dynamics on the ramp are quite different from those on the plane due to the influence of gravity forces along the ramp. In order to ensure a stable steering on ramp，the steering principle of the double motor coupling drive transmission is analyzed，and the dynamics and kinematics of tracked vehicle are studied. A kinematics and dynamics model of steering on ramp is proposed, and a model predictive control strategy is proposed based on the the proposed model. The control strategy is modeled by the MATLAB/Simulink for different slope angles and steering radii，and is verified using a tracked vehicle with double motor coupling drive transmission.The results show that the steering on ramp model has high creditability，and the steering on ramp control strategy based on model prediction can be used to make the vehicle steer stably.
ZENG Gen， WANG Weida， GAI Jiangtao， MA Changjun， LI Xunming， LI Huanhuan.
Steering on Ramp Control Strategy of Double Motor Coupling Drive Transmission for Tracked Vehicle. Acta Armamentarii. 2021, 42(10): 2189-2195 https://doi.org/10.3969/j.issn.1000-1093.2021.10.014
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