Nonlinear Derivative and Integral Sliding Control for Tracked Vehicle Steering with Hydrostatic Drive

• 作者: Changsong Zheng Ran Jia Yichun Chen
• 来源期刊: 北京理工大学学报（英文版）
• 学科: 交通运输
• 年，卷（期）: 2020,（3）
• 页码范围: 283-293
• 页数: 11页
• 分类号: U463.22
• 语种: 英文
• DOI: 10.15918/j.jbit1004-0579.19105

摘要

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 changes.Therefore,it is significant to enhance the steering stability of tracked vehicle with hydrostatic drive to meet the need of future battlefield.In this paper,a sliding mode control algorithm is proposed and applied to achieve desired yaw rates.The speed controller and the yaw rate controller are designed through the kinematics and dynamics analysis.In 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 approach.Moreover,it improves the response speed of the system and reduces the chattering by the derivative controller.The hydrostatic tracked vehicle module is modeled with a multi-body dynamic software RecurDyn and the steering control strategy module is modeled by MATLAB/Simulink.The 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.

作者信息

序号	姓名	单位	发文数	被引次数	H指数	G指数
1	Changsong Zheng		1	0	0.0	0.0
2	Yichun Chen		1	0	0.0	0.0
3	Ran Jia		1	0	0.0	0.0