Design of Zero-Differential Steering Controller for Tracked Vehicles With Hydraulic-Mechanical Transmission Based on Particle Swarm Optimization Algorithm

The handling stability of tracked vehicles not only affects the handling convenience of drivers but is also an important part of vehicle active safety. A zero-differential steering controller for tracked vehicles with hydraulic-mechanical transmissions was designed in this paper. First, the working principle of the steer-by-wire systems of tracked vehicles was analyzed, and the vehicle speed calculation model was established. Then, the steering dynamics model of the tracked vehicle was established based on the shear stress model. Finally, based on the particle swarm optimization algorithm, the established tracked vehicle steering dynamics model was iteratively solved, and the optimal yaw rate gain
$K_{r}$
was calculated in real time and used for vehicle steering control. The steering control simulation model of tracked vehicles was established in MATLAB/Simulink, and the control effect of the designed steering controller was verified by the simulation. The control effect was evaluated by the comprehensive evaluation index of the handling stability. The simulation results showed that the steering controller based on the particle swarm optimization algorithm effectively improved the handling stability of the tracked vehicle and reduced the burden on the driver.