Research on Control Strategy of Pure Electric Bulldozers Based on Vehicle Speed

Guangxiao Shen, Quancheng Dong (), Congfeng Tian, Wenbo Chen, Xiangjie Huang and Jinwei Wang
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Guangxiao Shen: School of Mechanical Engineering, University of Jinan, Jinan 250022, China
Quancheng Dong: School of Mechanical Engineering, University of Jinan, Jinan 250022, China
Congfeng Tian: Shantui Construction Machinery Co., Ltd., Jining 272073, China
Wenbo Chen: Shantui Construction Machinery Co., Ltd., Jining 272073, China
Xiangjie Huang: Shantui Construction Machinery Co., Ltd., Jining 272073, China
Jinwei Wang: School of Mechanical Engineering, University of Jinan, Jinan 250022, China

Energies, 2025, vol. 18, issue 19, 1-18

Abstract: This study proposes a hierarchical drive control system to ensure speed stability in dual-motor tracked vehicles operating under complex terrain and heavy-load conditions. The system adopts a two-layer structure. At the upper level, the sliding mode controller is designed for both longitudinal speed regulation and yaw rate control, thereby stabilizing straight line motion and the steering maneuvers. At the lower level, a synchronization mechanism aligns the velocities of the two motors, enhancing the vehicle’s robustness against speed fluctuations. Simulation results demonstrate that, across both heavy load and light load bulldozing scenarios, the deviation between the controller output and the reference command remains within 5 % . These findings confirm the accuracy of the control implementation and validate the effectiveness of the proposed framework.

Keywords: dynamics model; hierarchical control; integral sliding mode control; pure electric bulldozer (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2025
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