Steering Control of Tracked Vehicle with Hydrostatic Transmission Based on Neural PID

To achieve fast and stable steering along with the controllable trajectory,a steering control strategy is proposed and applied for tracked vehicle with hydrostatic transmission. Considering the structural features of hydrostatic driving wheels of both sides, the outer hydraulic motor is controlled by parameters of outside pressure and engine speed,while the inside motor is controlled by neural PID controller to follow the movement of outside motor. The whole vehicle including S-function based neural PID controller and stateflow module of control strategy was modeled in Matlab/Simulink environment. Simulation under different typical working conditions was implemented with the driver's inputs and control algorithm in-loop. The results indicate that,with the step signal as the system input, compared with PID control, the neural PID control could better reduce the system overshoot and speed up the response time. Simulation results also show that, under different typical working conditions, the neural PID control can improve the robustness and real-time ability of the system as well as the steering performance of tracked vehicle to follow the target.