阅读说明：本技术 电驱动履带车行驶跑偏情况下主动纠正控制方法和系统 (Active correction control method and system under condition of running deviation of electrically-driven tracked vehicle ) 是由 赵坤 田申 于 2021-09-18 设计创作，主要内容包括：本发明提供电驱动履带车行驶跑偏情况下主动纠正控制方法和系统,包括：实时采集该车当前两侧电机转速差和此时转速差变化率；对转速差和转速差变化率进行模糊化处理获得相应的转速差模糊值和转速差变化率模糊值根据模糊控制器,确定转速差模糊值和转速差变化率模糊值对应的电驱动履带车的转矩补偿量模糊值,转矩补偿量模糊值经解模糊化获得转矩补偿量,得到基于所述转矩补偿量对转矩进行调节。还提供电驱动履带车行驶跑偏情况下主动纠正控制系统,包括功率观测器、功率调节器、电机驱动系统、模糊控制器。通过设计对速度差的合理补偿,对两侧电机驱动系统进行动力分配,保证车辆在行驶过程中对跑偏问题进行主动纠正,以维持车辆直线行驶的稳定性。(The invention provides an active correction control method and system under the condition of running deviation of an electrically-driven tracked vehicle, which comprises the following steps: acquiring the current motor rotation speed difference on two sides of the vehicle and the change rate of the rotation speed difference in real time; fuzzification processing is carried out on the speed difference and the speed difference change rate to obtain corresponding speed difference fuzzy values and corresponding speed difference change rate fuzzy values, torque compensation amount fuzzy values of the electric drive crawler corresponding to the speed difference fuzzy values and the speed difference change rate fuzzy values are determined according to a fuzzy controller, the torque compensation amount fuzzy values are subjected to defuzzification to obtain torque compensation amounts, and torque is adjusted based on the torque compensation amounts. The active correction control system comprises a power observer, a power regulator, a motor drive system and a fuzzy controller. Through reasonable compensation of the speed difference, power distribution is carried out on motor driving systems on two sides, and active correction of the deviation problem in the driving process of the vehicle is guaranteed so as to maintain the stability of the vehicle in straight line driving.)

1. The active correction control method under the condition of running deviation of the electrically-driven tracked vehicle is characterized by comprising the following steps of:

acquiring the rotation speed difference delta omega of the motors on the two current sides of the electrically driven tracked vehicle in real time;

collecting the change rate delta omega 1 of the rotation speed difference at the moment;

fuzzification processing is respectively carried out on the rotation speed difference delta omega and the rotation speed difference change rate delta omega 1 to obtain a corresponding rotation speed difference fuzzy value E and a corresponding rotation speed difference change rate fuzzy value EC;

and according to a fuzzy controller, determining a torque compensation amount fuzzy value U of the electrically-driven tracked vehicle corresponding to the rotation speed difference fuzzy value E and the rotation speed difference change rate fuzzy value EC, defuzzifying the torque compensation amount fuzzy value U to obtain a torque compensation amount delta T, and adjusting the torque based on the torque compensation amount delta T.

2. The method for actively correcting and controlling the running deviation of the electrically-driven crawler vehicle according to claim 1, wherein the establishing of the fuzzy control rule by the fuzzy controller comprises the following steps: and establishing a fuzzy control rule according to the value range of the rotating speed difference fuzzy value E, the value range of the rotating speed difference change rate fuzzy value EC and the value range of the torque compensation amount fuzzy value U.

3. The method for actively correcting and controlling the running deviation of the electrically-driven crawler according to claim 2,

the fuzzy control rule comprises:

the fuzzy subset of the rotating speed difference fuzzy value E is divided according to the value range of the rotating speed difference fuzzy value E;

the fuzzy subsets of the speed difference change rate fuzzy value EC are divided according to the value range of the speed difference change rate fuzzy value EC;

the fuzzy subset of the torque compensation fuzzy value U is divided according to the value range of the torque compensation fuzzy value U; and a correspondence between all combinations of the fuzzy subset of the rotational speed difference fuzzy value E and the fuzzy subset of the rotational speed difference change rate fuzzy value EC and the fuzzy subset of the torque compensation amount fuzzy value U.

4. The active correction control method for the driving deviation condition of the electrically-driven tracked vehicle according to claim 3,

for the fuzzy subset, there are 7 fuzzy values E, EC, U, which are { PB, PM, PS, ZE, NS, NM, NB }, respectively, where E and the argument of EC and U are set to { -3, -2, -1, 0, 1, 2, 3}, NB is large negative, NM is medium negative, NS is small negative, ZE is zero, PS is small positive, PM is medium positive, PB is large positive, and the membership functions of the 7 fuzzy sets adopt fully-overlapped triangular membership functions.

5. The method for actively correcting and controlling the driving deviation of the electrically-driven tracked vehicle according to claim 4, wherein the correspondence relationship is according to a fuzzy control rule table, and the fuzzy control rule table is as follows:

6. the active correction control system is characterized by comprising a power observer, a power regulator, a motor driving system and a fuzzy controller, wherein the power observer comprises a left power observer and a right power observer, the power regulator comprises a left power regulator and a right power regulator, the motor driving system comprises a left motor driving system and a right motor driving system, and the fuzzy controller is a torque compensation fuzzy controller;

a fuzzy controller: continuously acquiring the rotating speed difference delta omega and the rotating speed difference change rate delta omega 1 of the left motor and the right motor, respectively fuzzifying the rotating speed difference delta omega and the rotating speed difference change rate delta omega 1 to obtain a corresponding rotating speed difference fuzzy value E and a corresponding rotating speed difference change rate fuzzy value EC, determining a torque compensation amount fuzzy value U corresponding to the rotating speed difference fuzzy value E and the rotating speed difference change rate fuzzy value EC, and defuzzifying U to obtain an accurate control amount U, wherein U is an output torque compensation increment delta T;

left power observer: the observer collects the phase current i and electromagnetic torque T of the motor_lIn combination with the rotational speed omega_lFurther calculating the actual power P_l1；

The observer of the right power observer collects the phase current i and the electromagnetic torque T of the motor_lIn combination with the rotational speed omega_rFurther calculating the actual power P_r1；

Left power regulator: given power P_lAnd the actual power P_l1Is introduced into the power regulator, the output of which is taken as the set torque T^* _lThe left driving motor is controlled in a closed loop mode;

a right power regulator: given power P_rAnd the actual power P_r1Is input into the power regulator, the output of which is taken as the given torque T^* ₂The left driving motor is controlled in a closed loop mode;

driving a motor driving system: given torque T output by the power regulator^* _l、T^* ₂The torque compensation increment delta T output by the fuzzy controller is calculated and used as a driving system of a left/right driving motorThe system responds to input torque, adjusts the rotating speed of the motors on the left side and the right side, realizes active correction under the condition of running deviation of the electrically-driven tracked vehicle, and simultaneously outputs motor phase current i and rotating speed omega.

Technical Field

The invention relates to the technical field of control of an electric drive crawler, in particular to an active correction control method and system under the condition of running deviation of the electric drive crawler.

Background

The electrically-driven tracked vehicle has the disadvantages of severe running environment, complex running condition and strong nonlinearity and uncertainty of road surface load, which often causes unbalance and severe change of loads of driving motors on two sides. Compared with the common mechanical vehicle, the bilateral independent electric-driven tracked vehicle flexibly realizes different power output of the driving wheels at two sides, but because the driving motors at two sides are not mechanically connected and constrained, the problem that the speed difference of the driving wheels at two sides is difficult to maintain is faced.

For an electrically driven tracked vehicle, due to the fact that road surface parameters are large in change and the speed range is wide, the deviation problem cannot be actively corrected in the running process of the vehicle under the full working condition through the fixed parameter PI control compensation.

Disclosure of Invention

In order to overcome the defects, the invention provides an active correction control method and system under the condition of running deviation of an electrically-driven tracked vehicle.

In order to achieve the above purposes, the technical scheme adopted by the invention on one hand is as follows:

the active correction control method under the condition of running deviation of the electrically-driven tracked vehicle comprises the following steps:

acquiring the rotation speed difference delta omega of the motor on the two current sides of the vehicle in real time;

collecting the change rate delta omega 1 of the rotation speed difference at the moment;

fuzzification processing is respectively carried out on the rotation speed difference delta omega and the rotation speed difference change rate delta omega 1 to obtain a corresponding rotation speed difference fuzzy value E and a corresponding rotation speed difference change rate fuzzy value EC;

and according to a fuzzy controller, determining a torque compensation amount fuzzy value U of the electrically-driven tracked vehicle corresponding to the rotation speed difference fuzzy value E and the rotation speed difference change rate fuzzy value EC, defuzzifying the torque compensation amount fuzzy value U to obtain a torque compensation amount delta T, and adjusting the torque based on the torque compensation amount delta T.

In some preferred embodiments, the establishing of the fuzzy control rule by the fuzzy controller comprises: and establishing a fuzzy control rule according to the value range of the rotating speed difference fuzzy value E, the value range of the rotating speed difference change rate fuzzy value EC and the value range of the torque compensation amount fuzzy value U.

In some preferred embodiments, the fuzzy control rules include:

the fuzzy subset of the rotating speed difference fuzzy value E is divided according to the value range of the rotating speed difference fuzzy value E;

the fuzzy subsets of the speed difference change rate fuzzy value EC are divided according to the value range of the speed difference change rate fuzzy value EC;

the fuzzy subset of the torque compensation fuzzy value U is divided according to the value range of the torque compensation fuzzy value U; and a correspondence between all combinations of the fuzzy subset of the rotational speed difference fuzzy value E and the fuzzy subset of the rotational speed difference change rate fuzzy value EC and the fuzzy subset of the torque compensation amount fuzzy value U.

In some preferred embodiments, the fuzzy subset includes 7 fuzzy values E, EC, U, which are { PB, PM, PS, ZE, NS, NM, NB }, where E, EC, and U are defined as { -3, -2, -1, 0, 1, 2, 3}, NB is large negative, NM is medium negative, NS is small negative, ZE is zero, PS is small positive, PM is medium positive, PB is large positive, and the membership functions of the 7 fuzzy sets employ fully-overlapping trigonometric membership functions.

In some preferred embodiments, the correspondence is according to a fuzzy control rule table.

The other aspect of the invention adopts the technical scheme that: the active correction control system comprises a power observer, a power regulator, a motor driving system and a fuzzy controller, wherein the power observer comprises a left power observer and a right power observer, the power regulator comprises a left power regulator and a right power regulator, the motor driving system comprises a left motor driving system and a right motor driving system, and the fuzzy controller is a torque compensation fuzzy controller;

a fuzzy controller: continuously collecting the speed difference delta omega and the speed difference change rate delta omega 1 of the left and right motors, respectively fuzzifying the speed difference delta omega and the speed difference change rate delta omega 1 to obtain corresponding speed difference fuzzy value E and speed difference change rate fuzzy value EC, determining a torque compensation amount fuzzy value U corresponding to the speed difference fuzzy value E and the speed difference change rate fuzzy value EC, and defuzzifying U to obtain an accurate control amount U, wherein U is the output torque compensation increment delta T.

Left power observer: the observer collects the phase current i and electromagnetic torque T of the motor_lIn combination with the rotational speed omega_lFurther calculating the actual power P_l1；

The observer of the right power observer collects the phase current i and the electromagnetic torque T of the motor_lIn combination with the rotational speed omega_rFurther calculating the actual power P_r1；

Left power regulator: given power P_lAnd the actual power P_l1Is introduced into the power regulator, the output of which is taken as the set torque T^* _lThe left driving motor is controlled in a closed loop mode;

a right power regulator: given power P_rAnd the actual power P_r1Is input into the power regulator, the output of which is taken as the given torque T^* ₂Realize closed-loop control of the left driving motor

Driving a motor driving system: given torque T output by the power regulator^* _l、T^* ₂And after being calculated, the torque compensation increment delta T output by the fuzzy controller is used as the input of a left/right driving motor driving system, the system responds to the input torque, adjusts the rotating speed of the motors on the left and right sides, realizes active correction under the condition of running deviation of the electrically-driven tracked vehicle, and simultaneously outputs motor phase current i and rotating speed omega.

The invention has the advantages that:

the control system and the control method have the advantages that on the basis of the existing electric drive crawler vehicle running control, the design of the compensation controller is carried out by means of a fuzzy intelligent algorithm, the control strategy of directly compensating the output torques at two sides is adopted, the power distribution is carried out on the motor drive systems at two sides, the timely active correction of the running deviation of the electric drive crawler vehicle under different working conditions is realized, the straight running stability of the vehicle is improved, the potential safety hazard caused by the deviation is eliminated, and the operation rate of the electric drive crawler vehicle is improved. This control gathers relevant data in real time and in time rectifies, reduces the hysteresis quality, all is suitable for to the different operating modes of electric drive tracked vehicle, and the practicality is high and has the popularization.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1: the structural schematic diagram of the active correction control system under the condition of running deviation of the electrically-driven tracked vehicle in the embodiment of the invention;

FIG. 2: the speed difference fuzzy value E in the embodiment of the invention belongs to a function graph;

FIG. 3: the fuzzy value EC of the speed difference change rate in the embodiment of the invention is attached to a function diagram;

FIG. 4: the fuzzy value U of the torque compensation quantity in the embodiment of the invention belongs to a function diagram of the degree of membership;

wherein the ordinate of fig. 2, 3, 4 is the membership value.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

For convenience of description, some terms or expressions referred to in the embodiments of the present application are explained below:

electrically driven tracked vehicle: the running gear is composed of a guide wheel, a follow-up wheel, a thrust wheel, a driving wheel and a track, and a driving system is driven by a motor to replace a vehicle driven by a traditional diesel engine.

Fuzzy control: fuzzy control is a method of controlling a control object using human knowledge, and is expressed in the form of "if conditions, then results", also called language control. Specifically, fuzzy control is control based on fuzzy set theory, fuzzy language and fuzzy logic, is an application of fuzzy mathematics in a control system, and is nonlinear intelligent control.

Membership function: if there is a number A (x) e [0, 1] corresponding to any element x in the domain of interest (scope of study) U, then A is called the fuzzy set on U, and A (x) is called the membership of x to A. When x varies among U, A (x) is a function, called the membership function of A.

The design idea of the invention is as follows:

the problem of vehicle straight running deviation is mainly caused by the difference of the loads of motors on two sides under the condition of split road with large difference of resistance coefficients of the road surfaces on the two sides; the mechanical structures such as the action part, the side transmission and the like have difference on the loads of the motors on the two sides and the deviation between the output torque of the motors and an expected value, so that the rotation speed of the motors is asynchronous, and in order to realize active correction under the condition of running deviation of the electrically-driven tracked vehicle and ensure the straight running stability, the vehicle controller must continuously adjust the output torque of the motors according to the state change of the motors and ensure that the rotation speeds on the two sides are as consistent as possible. The control method adopts a control strategy that the speed difference value of the left driving wheel and the right driving wheel is obtained, a fuzzy controller is designed by means of a fuzzy intelligent algorithm, and the output torques at two sides are directly compensated, so that the active correction of the electric drive crawler under the running deviation condition is realized, and the running stability of the crawler is improved.

As shown in fig. 1-4, the active correction control method for the electrically-driven tracked vehicle in the running deviation condition includes:

acquiring the rotation speed difference delta omega of the motor on the two current sides of the vehicle in real time;

collecting the change rate delta omega 1 of the rotation speed difference at the moment;

fuzzification processing is respectively carried out on the rotation speed difference delta omega and the rotation speed difference change rate delta omega 1 to obtain a corresponding rotation speed difference fuzzy value E and a corresponding rotation speed difference change rate fuzzy value EC;

and according to a fuzzy controller, determining a torque compensation amount fuzzy value U of the electrically-driven tracked vehicle corresponding to the rotation speed difference fuzzy value E and the rotation speed difference change rate fuzzy value EC, defuzzifying the torque compensation amount fuzzy value U to obtain a torque compensation amount delta T, and adjusting the torque based on the torque compensation amount delta T.

In this embodiment, the left and right motor rotation speed difference Δ ω and the rotation speed difference change rate Δ ω are continuously detected₁As input variables of the fuzzy controller, of course, the two data may be obtained by removing error data, and there are various methods for obtaining the two data, which are not limited to the method of the embodiment. In the fuzzy controller, fuzzification and fuzzy reasoning are carried out on a knowledge base of input variables based on a fuzzy set theory, a fuzzy language and fuzzy logic, so that a fuzzy reasoning result is obtained, namely the output of the fuzzy controller: and the torque compensation increment delta T is applied to control the torque of the electrically-driven tracked vehicle, so that the output torque of the motor at the high rotating speed side is reduced, the output torque of the motor at the low rotating speed side is increased, and finally the rotating speed synchronization of the two sides of the electrically-driven tracked vehicle is realized.

Further, in the control method for braking of the vehicle provided by the embodiment of the present application, the method further includes that the fuzzy controller establishes a fuzzy control rule, where the rule includes: and establishing a fuzzy control rule according to the value range of the rotating speed difference fuzzy value E, the value range of the rotating speed difference change rate fuzzy value EC and the value range of the torque compensation amount fuzzy value U.

Specifically, the fuzzy control rule includes:

the fuzzy subset of the rotating speed difference fuzzy value E is divided according to the value range of the rotating speed difference fuzzy value E;

the fuzzy subsets of the speed difference change rate fuzzy value EC are divided according to the value range of the speed difference change rate fuzzy value EC;

the fuzzy subset of the torque compensation fuzzy value U is divided according to the value range of the torque compensation fuzzy value U; and a correspondence between all combinations of the fuzzy subset of the rotational speed difference fuzzy value E and the fuzzy subset of the rotational speed difference change rate fuzzy value EC and the fuzzy subset of the torque compensation amount fuzzy value U.

More specifically, according to the actual conditions of the electrically-driven tracked vehicle, when the angular speed deviation Δ ω > 0, ω_r＞ω_lThe given torque of the left motor is required to be increased, and the given torque of the right motor is required to be decreased; when the deviation Δ ω < 0, ω_r＜ω_lThe right motor set torque is requested to increase and the left motor set torque is requested to decrease. And if the rate of change of deviation Δ ω₁When the deviation rate is more than 0, the motor on the right side has the tendency of speed reduction, and the deviation change rate delta omega₁If the sum is less than 0, the right side motor has a speed increasing trend, so for the fuzzy subset, the fuzzy value E of the rotational speed difference, the fuzzy value EC of the rotational speed difference change rate and the fuzzy value U of the torque compensation amount are respectively divided into 7, and are respectively { PB, PM, PS, ZE, NS, NM, NB }, wherein the argument of E, EC and U is set to { -3, -2, -1, 0, 1, 2, 3}, NB is large negative, NM is medium negative, NS is small negative, ZE is zero, PS is small positive, PM is large positive, PB is large, and the membership functions of the 7 fuzzy sets adopt fully-overlapped triangular membership functions. Wherein, NB has a positive value range of [ -3, -2 [ ]]The value range of NM minus is [ -3, -1 [)]The negative value range of NS is [ -2, 0 [ ]]The value range of ZE zero is [ -1, 1 [ ]]The positive and small value range of PS is [0, 2 ]]The median value range of PM is [1, 3]]PB is in a positive range of [2, 3]]，

To implement the fuzzy logic control, setting the linguistic value of the rotational speed difference Δ ω includes: positive big, positive middle, positive small, zero, negative small, negative middle and negative big, corresponding fuzzy subset is { PB, PM, PS, ZE, NS, NM, NB }. And (3) taking the discourse domain of the rotating speed difference fuzzy value E as [ -3, 3], and quantizing the rotating speed difference delta omega as follows:

wherein

Setting a rotational speed difference change rate Δ ω₁The language values of (a) include: positive big, positive middle, positive small, zero, negative small, negative middle and negative big, corresponding fuzzy subset is { PB, PM, PS, ZE, NS, NM, NB }. The discourse domain of the fuzzy value EC of the speed difference change rate is [ -3, 3]To the rate of change of rotational speed difference Δ ω₁The quantization process is performed as follows:

wherein

The language value for setting the torque compensation amount Δ T includes: positive big, positive middle, positive small, zero, negative small, negative middle and negative big, corresponding fuzzy subset is { PB, PM, PS, ZE, NS, NM, NB }. The discourse domain of the torque compensation amount fuzzy value U is [ -3, 3], and the torque compensation amount delta T is quantized as follows:

wherein

The fully-overlapped triangular membership function does not completely depend on a pure mathematical model, but is a fuzzy mathematical model based on a fuzzy rule, and is a set of complete control rules summarized by a large number of operation practices; the language is convenient to use, and an accurate mathematical model of the process can be omitted; the method is suitable for solving the problems of nonlinearity, strong coupling time variation, hysteresis and the like in process control; the method has strong fault-tolerant capability and has the capability of adapting to the dynamic characteristic change, the environmental characteristic change and the action condition change of the controlled object.

The function formula corresponding to the full-overlapping triangular membership function:

further, there are a plurality of fuzzy control rules, which form a fuzzy relation control library, and the specific fuzzy control rule is shown in table 1:

TABLE 1 fuzzy control rules Table

The fuzzy control rule table is used for representing the mapping relation between the rotating speed difference fuzzy value E and the braking rotating speed difference change rate fuzzy value EC, and the torque compensation amount fuzzy value U is a combined value of the rotating speed difference fuzzy value E and the braking rotating speed difference change rate fuzzy value EC. For example:

if E is PB and EC is ZE, then U is PB.

If E is ZE and EC is NB, then U is NB.

Specifically, membership values of a speed difference fuzzy value E and a speed difference change rate fuzzy value EC are calculated according to a membership function according to the speed difference delta omega and the speed difference change rate delta omega 1 of the motors on two sides of the vehicle, a corresponding torque compensation quantity fuzzy value U is inquired in a fuzzy control rule table, and then a specific torque compensation quantity delta T is solved, so that the rotation speed synchronization on two sides of the electric drive crawler belt is realized by controlling the torque.

As shown in fig. 1, the active correction control system under the running deviation condition of the electrically-driven tracked vehicle comprises a power observer, a power regulator, a motor driving system and a fuzzy controller, wherein the power observer comprises a left power observer and a right power observer, the power regulator comprises a left power regulator and a right power regulator, the motor driving system comprises a left motor driving system and a right motor driving system, and the fuzzy controller is a torque compensation fuzzy controller;

a fuzzy controller: continuously collecting the speed difference delta omega and the speed difference change rate delta omega 1 of the left and right motors, respectively fuzzifying the speed difference delta omega and the speed difference change rate delta omega 1 to obtain corresponding speed difference fuzzy value E and speed difference change rate fuzzy value EC, determining a torque compensation amount fuzzy value U corresponding to the speed difference fuzzy value E and the speed difference change rate fuzzy value EC, and defuzzifying U to obtain an accurate control amount U, wherein U is the output torque compensation increment delta T.

In the fuzzy resolving, a fuzzy value obtained by fuzzy reasoning of the torque compensation quantity delta T is converted into an accurate control signal, and then the accurate value is converted into a required control quantity through a scale factor to act on motor driving systems on two sides.

The language value for setting the torque compensation amount Δ T includes: positive big, positive middle, positive small, zero, negative small, negative middle and negative big, corresponding fuzzy subset is { PB, PM, PS, ZE, NS, NM, NB }. Setting the value of a discourse domain U of the torque compensation quantity delta T as [ -3, 3], setting the scale factor as k', and solving the torque compensation quantity through the defuzzification process as follows:

ΔT＝k'U

left power observer: the observer collects the phase current i and electromagnetic torque T of the motor_lIn combination with the rotational speed omega_lFurther calculating the actual power P_l1；

The observer of the right power observer collects the phase current i and the electromagnetic torque T of the motor_lIn combination with the rotational speed omega_rFurther calculating the actual power P_r1；

Left power regulator: given power P_lAnd the actual power P_l1Is introduced into the power regulator, the output of which is taken as the set torque T^* _lThe left driving motor is controlled in a closed loop mode;

a right power regulator: given power P_rAnd the actual power P_r1Is input into the power regulator, the output of which is taken as the given torque T^* ₂To the left sideDrive motor realizing closed-loop control

Driving a motor driving system: given torque T output by the power regulator^* _l、T^* ₂And after being calculated, the torque compensation increment delta T output by the fuzzy controller is used as the input of a left/right driving motor driving system, the system responds to the input torque, adjusts the rotating speed of the motors on the left and right sides, realizes active correction under the condition of running deviation of the electrically-driven tracked vehicle, and simultaneously outputs motor phase current i and rotating speed omega.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.