Control strategy for hydro-mechanical differential turning system of tracked vehicles

In order to achieve accurately the driver’s steering intention and solve the steering control problem in the tracked vehicles with hydro-mechanical differential turning system, a dynamic model of hydro-mechanical differential turning system was deduced by analyzing working principle of a hydro-mechanical differential turning system and using dynamics principle and modular method in this paper, and mathematical model of the system was established. Based on the steering travel theory of tracked vehicles and the requirements of steering safety and the mathematical model proposed, a control strategy of hydro-mechanical differential turning system was designed, of which steering control was realized by coordination its control unit with displacement controller of hydraulic pump. The simulation results showed that the control strategy was safe and effective, and the driver’s steering intention can be achieved exactly.