双侧电传动履带车辆模糊前馈-反馈转向控制

针对双侧电传动履带车辆转向控制存在目标跟踪慢和抗干扰性能差等问题，通过车辆动力学分析和驾驶员操控信号解析，在直接转矩控制的基础上设计了一种模糊前馈-反馈转向控制算法。该算法将方向盘转角及变化率作为模糊控制输入，对两侧电机目标转矩进行前馈补偿；采用转向半径的偏差及变化率作为模糊控制输入，对目标转矩差进行反馈修正。通过实时仿真系统dSPACE平台构建车辆的硬件在环实时仿真平台，对控制策略的实时性和可行性进行了验证。结果表明，模糊前馈-反馈控制在车辆不同速度和不同转向半径工况下均能有效缩短转向动态响应时间，同时转向轨迹的抗扰性能得到了提高，实现了车辆快速稳定转向。

Steering Control Based on Fuzzy Feedforward and Feedback for Dual-motor Electric Drive Tracked Vehicle

The steering control of dual-motor electric drive tracked vehicle has slow target tracking and poor anti-interference performance. For the above problems, a fuzzy feedforward and feedback steering control algorithm based on direct torque control was proposed by analyzing the vehicular dynamic performance and the driver controlling signal. The steering angle and the changing rate are set as the inputs of fuzzy feedforward control, based on which the target torques of the dual motors are compensated in feedforward. Furthermore, the deviation and changing rate of steering radius are set as the inputs of the fuzzy feedback control, from where the target torque difference is revised in feedback. Then the effectiveness and feasibility of the control strategy are validated by building and using a hardware in-loop real-time simulation platform with dSPACE. The results show that the fuzzy feedforward and feedback control can effectively shorten the dynamic response time of steering when the tracked vehicle turns at different radii and different speeds, and the anti-interference of steering trajectory is improved, which can realize faster and more stable steering.