双侧电驱动履带车辆执行机构为驱动电机，两侧动力独立输出，控制灵活；为达到与传统机械车辆相同的驾驶感觉，设计了基于功率调节的直线行驶控制策略；为解决直线行驶两侧电机同步控制问题，研究了基于模糊规则的转矩补偿方法；基于Matlab和Recurdyn软件进行了直驶和转向工况仿真实验，表明所设计的控制策略能够提高车辆直线行驶的稳定性。%The dual-motor electric drive tracked vehicle takes the driving motor as the dynamic part. It has a flexible control with dual dynamic independent output. In order to fit the electric drive vehicle in traditional mechanic vehicle,a straight driving control strategy based on power adjustment was established. And a torque compensation strategy based on fuzzy regular was established to solve the problem of synchronizing control of dual motor. A straight driving and steering experiment was simulated in Matlab and Recurdyn. The conclusion shows that the designed control strategy can prove the stability of straight driving vehicle.
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