电传动履带车辆原地转向控制与D2P实时仿真

为了提高电传动履带车辆的原地转向性能，从履带车辆原地转向动力学模型出发，提出一种基于双电机力矩控制的电传动履带车辆原地转向控制策略，首先增大电机力矩初始值以提高转向响应速度，进而将方向盘转角信号引入横摆角速度负反馈增益从而实现驾驶员对转向速度的控制.使用D2P快速原型开发系统构建了履带车辆原地转向“驾驶员+控制器”在环仿真平台，通过实时仿真对所提出的控制算法进行了验证，结果表明设计的控制策略正确有效，且具有良好的实时性.

Pivot Steering Control and D2P Real-Time Simulation for Electric Tracked Vehicle

In order to improve the pivot steering performence of electric tracked vehicle, a control strategy using dual electric motor torque control was proposed on the basis of pivot steering kinetic model. First, motors' maximum torque was set as the initial value so as to improve the dynamics response speed. Then, driver steering wheel angular signal was introduced into yaw velocity negative feedback gain for the driver to control the steering speed. Driver and controller in the loop simulation platform for tracked vehicle pivot steering was built on the basis of D2P prototype development system. The real-time simulation results show that the control strategy is correct, effective and real-time.