Development of Non-Parametric Model and Speed Tracking Control of Tracked Vehicle Electric Motor

Abstract

In propelling the tracked vehicle, each track is fitted with an electric motor which will regulate torque to the tracks. In this study, the development of electric motor model and motor speed tracking control will be described. To do this, a non-parametric model was chosen by generalizing the experiment data from system input-output properties. However, characterization of tracked vehicle electric motor need to be done before creating the non-parametric model. The final model developed using non-parametric model are then used to study the speed tracking control of tracked vehicle electric motor through simulation and experiment. The tracked vehicle electric motor was tested in two different inputs, which are step input and sine input. The resulted show that the maximum percentage of overshoot recorded for both cases are less than 15%.