The straight-line driving control strategy of the hybrid track-type bulldozer

In order to realize the driving stability control, the straight-line control strategy was studied. Firstly, the bulldozer straight-line driving dynamics model, the driver´s input model, the motor and controller model were established. Then, the straight-line driving control strategy was proposed. The experimental results show that the actual speed followed the speed of the left motor and the output torque of the left motor are the same as the right motor´s. Therfore the proposed control strategy is an effective method.