Motion control of the self-walking hydrostatic driving tracked tractor

Abstract

The hydrostatic driving tracked tractor was widely applied in the modern agriculture for its high adaptability to the working environment. By analyzing the motion of hydrostatic driving tracked tractor and combing the model of tracked tractor and the hydrostatic driving pump-motor with the rotational velocity adjustment control scheme, the paper design the control system of hydrostatic driving tracked tractor. In response to the motion of steering and straight-line driving, taking the mass-center velocity and rotational angular velocity of the tracked tractor as the expected inputs, meanwhile, using Matlab/Simulink toolbox to build and verify the hydrostatic driving tracked tractor system. The simulated result shows that, under the control of fuzzy PID controller, the hydrostatic driving tracked tractor was able to steer and drive along the straight line while reached the target of self-walking.