Research on Electric Bulldozer Straight Driving Stability

In order to solve the problem of straight-line running deviation of electric bulldozer caused by the difference of response characteristics between two motors, the difference of moving devices on both sides or the difference of load on both sides, the straight driving stability of tracked electric bulldozer was studied. Based on Matlab/Simulink, the simulation model of tracked electric bulldozer was established, and the influence factors of straight driving stability were analyzed by using the model. According to the analysis results, the yaw angular velocity of bulldozer was chosen as the feedback parameter of straight-line stability control, and the control strategy based on fuzzy PID was designed. According to the yaw angular velocity and its change rate, the correction of PI parameters was obtained by fuzzy controller. A comparative simulation analysis of two cases with or without straight driving stability control was carried out, and the simulation results showed that the control strategy can achieve good results when there were differences in the torque response of the motor on both sides, the crawler on both sides and the load on both sides, which verifies the feasibility of strategy.