Unmanned Tracked Vehicle Uphill Assist Control Method Based on Quasi-sliding Mode Control

Abstract

Unmanned tracked vehicle mostly use remote control. Communication delay and unclear images are easy to cause operator errors in operation, especially when starting on large uphill, safety accidents such as slipping and sideslip often occur. Aiming at the problem of uphill assist safety, on the basis of analyzing the longitudinal dynamics of the vehicle, a feedforward and feedback control method is proposed, the evaluation index of the big uphill assist performance is designed, the target driving force is obtained according to the uphill resistance and braking force, and the feedforward is designed The compensator calculates the feedforward driving force through the braking force, and then completes the feedback closed-loop control through the quasi-sliding mode controller. Through model simulation, this design method can help the unmanned tracked vehicle to start safely on the uphill, and the vehicle speed tracking effect is good, reducing the driver's control difficulty in uphill starting, and meeting the design requirements of the unmanned tracked vehicle's safe starting control on the uphill.