Research on electronic differential control strategy of mine distributed drive articulated vehicle

Aiming at the problem that the articulated vehicle with distributed drive is easy to slip during steering, an electronic differential control strategy based on PID sliding mode control is proposed. The dynamic model of the distributed drive articulated vehicle and the slip ratio calculation module based on the kinematic model are established. The PID sliding mode controller is designed based on the PID sliding mode surface and exponential reaching law. The steering condition of the distributed drive articulated vehicle is simulated by Matlab/Simulink. The results show that the differential control strategy based on PID sliding mode control has good differential performance for both inner and outer wheels under small angle and large angle steering conditions. Even if some wheels enter the low adhesion road, the wheel slip rate is effectively controlled around 0.2. The differential control strategy proposed in this paper can effectively reduce the occurrence of slip and tire wear, which is of great significance to improve the stability and dynamic performance of the mine distributed electric drive articulated vehicle.