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nonlinear derivative and integral sliding control for Tracked Vehicle Steering with Hydrostatic Drive

Journal of Beijing Institute of Technology 2020年第3期29卷 283-293页

作者： Changsong Zheng Yichun Chen Ran Jia School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China Collaborative Innovation Center of Electric Vehicle in Beijing Beijing 100081China

In the steering process of tracked vehicle with hydrostatic drive,the motion and resistance states of the vehicle are always of uncertain and nonlinear characteristics,and these states may undergoe large-scale ***,it is significant to enhance the steering stability of tracked vehicle with hydrostatic drive to meet the need of future *** this paper,a sliding mode control algorithm is proposed and applied to achieve desired yaw *** speed controller and the yaw rate controller are designed through the kinematics and dynamics *** addition,the nonlinear derivative and integral sliding mode control algorithm is designed,which is supposed to efficiently reduce the integration saturation and the disturbances from the unsmooth road surfaces through a conditional integrator ***,it improves the response speed of the system and reduces the chattering by the derivative *** hydrostatic tracked vehicle module is modeled with a multi-body dynamic software RecurDyn and the steering control strategy module is modeled by MATLAB/*** co-simulation results of the whole model show that the control strategy can improve the vehicle steering response speed and also ensure a smooth control output with small chattering and strong robustness.

关键词： tracked vehicle hydrostatic drive steer control nonlinear derivative and integral sliding mode control

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