A Steering Control Strategy Based on Torque Fuzzy Compensation for Dual Electric Tracked Vehicle

Pei LI, Jun YAN, Qunzhang TU, Ming PAN, Chengming JIANG


 A steering control strategy based on bilateral torque fuzzy compensation for dual electric tracked vehicle is proposed in this paper. After the dynamic analysis of tracked vehicles, the mapping relationship between acceleration signal, braking signal, steering signal and bilateral motor torque is established. According to different driving states, the steering wheel real-time rotation angle and its change rate are interpreted as the motor torque compensation coefficients K1 and K2 by fuzzy algorithm to achieve quick response of driving intention. The steering control model of the electric tracked vehicle is built, and the HILS (hardware in loop simulation) platform is constructed with dSPACE. The HILS result shows that, by torque fuzzy compensation strategy, steering sensitivity and controllability could get better improvement compared with direct torque control strategy.

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