考虑履带滑转滑移的电驱动履带车辆转向控制

为消除车辆转向过程中履带滑转滑移对电驱动车辆运动学控制的影响，准确实现车辆的转向轨迹控制，对考虑履带滑转滑移的电驱动车辆转向控制策略进行研究。分析表征履带车辆转向过程滑转滑移特性的转向半径修正系数及转向角速度修正系数，在此基础上提出考虑履带滑转滑移的转向控制策略，利用转向半径修正系数及转向角速度修正系数对电机转速控制指令进行修正。通过仿真和试验，对比了不考虑履带滑转滑移的转向控制策略和考虑履带滑转滑移的转向控制策略。结果表明，考虑履带滑转滑移的转向控制策略可以准确地实现转向控制目标，验证了该转向控制策略的可行性。

Steering Control of Electric Drive Tracked Vehicle Considering Tracks' Skid and Slip

The steering control strategy of electric drive vehicle considering tracks' skid and slip is researched to eliminate the influence of track' skid and slip on kinematics control of electric drive tracked vehicle in steering process and realize the accurate control of vehicle steering trajectory. The correction factors of steering radius and steering angular velocity, which characterize the slip characteristics of tracked vehicle in steering process, are analyzed. Based on the analyzed results, a steering control strategy considering the tracks' skid and slip is proposed, in which the correction factors of steering radius and the steering angular velocity are used to modify the revolution control command of drive motor speed. The comparative simulations and experiments of the steering control strategy without and with considering the tracks' skid and slip were carried out. The results show that the steering control strategy with considering the tracks' skid and slip can accurately achieve the steering control objectives, which verifies the feasibility of the proposed steering control strategy.