Research on Motor Steering Torque Control for Skid Steering Vehicles
In order to solve the problem of difficult lateral control of the skid steering vehicle,this paper designs a lateral control algorithm for skid steering vehicles by constructing a two-layer structure model of motor control torque distribution.According to the vehicle kinematics and dynamics,the study deduces the balance equation between the motor steering torque and the yaw rate.Based on this,a self-slip-suppressed motor steering torque feedforward control algorithm is proposed.Through Trucksim and Simulink,the vehicle is co-simulated under the experimental conditions of double-line shifting.The results show that under the control of the design algorithm,the vehicle can quickly and stably follow the yaw rate command,and has a certain adaptive ability to automatically suppress the sud-den change of the slip rate.The application of this algorithm effectively improves the lateral stability of the skid steer vehicle.
Skid-steeringMotor torque controlLateral controlFeedforward control
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