Year: 2025
Type: article
Abstract: This study proposes a hierarchical drive control system to ensure speed stability in dual-motor tracked vehicles operating under complex terrain and heavy-load conditions. The system adopts a two-layer structure. At the upper level, the sliding mode controller is designed for both longitudinal speed regulation and yaw rate control, thereby stabilizing straight line motion and the steering maneuvers. At the lower level, a synchronization mechanism aligns the velocities of the two motors, enhancing the vehicle’s robustness against speed fluctuations. Simulation results demonstrate that, across both heavy load and light load bulldozing scenarios, the deviation between the controller output and the reference command remains within 5%. These findings confirm the accuracy of the control implementation and validate the effectiveness of the proposed framework.
Source: Energies
DOI: 10.3390/en18195136
Authors: Guangxiao Shen, Quancheng Dong, Congfeng Tian, Wenbo Chen, Xiangjie Huang, Jinwei Wang
Institutions: University of Jinan, Shantui (China)
Language: English
Subfield: Automotive Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
OpenAlex ID: W4414592825