双侧电机耦合驱动履带车辆斜坡转向控制策略

斜坡转向过程是履带车辆的一种典型工况，受重力沿斜坡分力的影响，其动力学特性与平面转向相差很大，转向控制难度大。为提高履带车辆斜坡转向过程的稳定性，对双侧电机耦合驱动履带车辆的转向原理和履带车辆动力学与运动学进行分析，建立斜坡转向运动学与动力学模型。在此模型基础上，提出斜坡转向模型预测控制策略。针对不同斜坡角度以及转向半径，利用MATLAB/Simulink软件对转向控制策略进行建模与仿真，并通过电驱动车辆进行了实车验证。结果表明，该履带车辆斜坡转向模型具有较高的可信性，基于模型预测的斜坡转向控制策略能够使车辆稳定地进行斜坡转向操纵。

Steering on Ramp Control Strategy of Double Motor Coupling Drive Transmission for Tracked Vehicle

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.