Control of Pivot Steering for Bilateral Independent Electrically Driven Tracked Vehicles Based on GWO-PID

Abstract

In this study, the optimization problem for controlling the pivot steering function of tracked vehicles is addressed. Firstly, kinematic modeling of the pivot steering process of tracked vehicles is conducted. Secondly, the control system of tracked vehicles is decoupled, and PID control algorithms for vehicle speed and yaw rate are separately designed. Furthermore, the parameters of the PID controllers are optimized using the Grey Wolf Optimizer algorithm. Finally, by constructing a joint simulation model using Matlab/Simulink + RecurDyn (V9R4), the simulation results indicate that the above control algorithm can effectively improve the tracking speed of tracked vehicles on vehicle speed and yaw rate under the pivot steering condition, quickly respond to the driver’s driving intention, and ensure the stability of the pivot steering process, providing an effective basis for further research on the pivot steering function of tracked vehicles.