Steering Control of Dual Electric Drive Tracked Vehicle Based on Model Predictive Control

Abstract A model predictive control (MPC) algorithm is designed to solve problem in the steering control of dual electric drive tracked vehicle. Firstly, the driver manipulated model is constructed after analyzing tracked vehicle dynamics. Based on which, the predictive control of vehicle speed and yaw rate is achieved by establishing predictive model, rolling optimization, and correcting feedback. Finally, co-simulation model of vehicle multi-body dynamics and steering control is constructed to simulate the steering conditions of variable speed and variable radius. The simulation results show that the MPC algorithm can quickly and accurately track the target speed and yaw rate, and the output motor torque is smooth. Which can realize the stable steering of vehicles under various working conditions.