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Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2019> 28(4): 715-724
Shuyang Zhang, Yunan Zhang, Keyan Ning, Nanming Yan, Qingfeng Fang. Slip-Control Strategy of Dual Independent Electric Drive Tracked Vehicle[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2019, 28(4): 715-724. doi: 10.15918/j.jbit1004-0579.18095
Citation: Shuyang Zhang, Yunan Zhang, Keyan Ning, Nanming Yan, Qingfeng Fang. Slip-Control Strategy of Dual Independent Electric Drive Tracked Vehicle[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2019, 28(4): 715-724.doi:10.15918/j.jbit1004-0579.18095
shu

Slip-Control Strategy of Dual Independent Electric Drive Tracked Vehicle

doi:10.15918/j.jbit1004-0579.18095
  • 1.

    Weaponry and Control Department, Army Academy of Armored Forces, Beijing 100072, China

  • 2.

    China North Vehicle Research Institute, Beijing 100072, China

  • Received Date:2018-05-08
    Abstract
  • In order to improve the brake performance of a dual independent electric drive tracked vehicle, a dynamic model for braking situation was established. Then, a sliding model controller(SMC) with an auxiliary system was designed to control the slip and its effectiveness was proved. A hardware-in-loop simulation through MATLAB/XPC was compared with the normal SMC and normal integral sliding mode controller (ISMC), the results show that SMC with the auxiliary system has a better performance:a smaller overshoot and steady state error.The disturbance is suppressed effectively. In the initial speed of 65.km/h, the brake distance was shortened by 3.4% and 6.8% compared with the other two methods,respectively. Finally, initial speeds of 30-36.km/h tests was carried out on a flat soil road. Compared with a no-control brake, the displacement was shortened by 1.8.m. It demonstrates the effectiveness of the slip-control strategy. In the same situation, the error between the simulation and test is 18.1%, which validates the accuracy of models.
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