Steering control strategy for adjusting rotating speed of hydrostatic drive tracked vehicle

Abstract

The invention discloses a steering control strategy for adjusting the rotating speed of a hydrostatic drive tracked vehicle, which comprises the following steps: S1, an instruction expression of a finite-state machine: sending a target rotating speed instruction to pumps and motor displacement controllers on two sides in any control period k as follows: in the formula, the rotating speed instructions are respectively sent to the motors on two sides in the kth control period, wherein the target rotating speeds of the motors on the two sides are interpreted by input of a driver in the kth control period, and the rotating speed instruction is sent to the motors on the two sides in the (k-1)th control period. According to the method, the problem that the speed regulation scheme is lagged is solved, the target vehicle speed of the driver is corrected in advance, the control period is shortened, when it is found that the input intention of the driver adjusted by the motors on the two sides for the steering control strategy still cannot be met or the whole vehicle safety is involved due to special road conditions, corresponding treatment is conducted, and potential safety hazards are reduced.

Description

technical field [0001] The invention relates to a steering control strategy for adjusting the rotational speed of a crawler vehicle, in particular to a steering control strategy for adjusting the rotational speed of a hydrostatically driven crawler vehicle, and belongs to the technical field of vehicles. Background technique [0002] Vehicle steering control technology has always been the key technology and difficult technology in all vehicle control technologies. A good steering control technology can make the vehicle perform the expected steering according to the driver's instructions, and can make the vehicle have the best steering during the steering process. power, stability and safety. The steering of tracked vehicles is mainly due to the fact that the steering mechanism outputs different speeds to the drive wheels on both sides, which drives the tracks on both sides to produce a speed difference; [0003] The hydrostatic drive tracked vehicle is different from the tr...

AI Technical Summary

Problems solved by technology

[0004] Due to the large-scale variation and non-linearity of the resistance on both sides during the steering process of the hydrostatic drive tracked vehicle, but in fact there are limitations on the output torque of the hydraulic motor and the output power of the engine, and the current technical solutions generally suffer from slow steering response. , unstable steering process, poor trajectory controllability, etc.

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