Nonlinear Derivative and Integral Sliding Control for Tracked Vehicle Steering with Hydrostatic Drive

In the steering process of tracked vehicle with hydrostatic drive,the motion and resistance states of the vehicle are always of uncertain and nonlinear characteristics,and these states may undergoe large-scale changes.Therefore,it is significant to enhance the steering stability of tracked vehicle with hydrostatic drive to meet the need of future battlefield.In this paper,a sliding mode control algorithm is proposed and applied to achieve desired yaw rates.The speed controller and the yaw rate controller are designed through the kinematics and dynamics analysis.In addition,the nonlinear derivative and integral sliding mode control algorithm is designed,which is supposed to efficiently reduce the integration saturation and the disturbances from the unsmooth road surfaces through a conditional integrator approach.Moreover,it improves the response speed of the system and reduces the chattering by the derivative controller.The hydrostatic tracked vehicle module is modeled with a multi-body dynamic software RecurDyn and the steering control strategy module is modeled by MATLAB/Simulink.The co-simulation results of the whole model show that the control strategy can improve the vehicle steering response speed and also ensure a smooth control output with small chattering and strong robustness.

Cationic content effects of biodegradable amphoteric chitosan-based flocculants on the flocculation properties

A series of biodegradable amphoteric chitosan-based flocculants （3-chloro-2-hydroxypropyl trimethyl ammonium chloride （CTA） modified carboxymethyl chitosan, denoted as CMC-CTA） with different substitution degrees of CTA were prepared successfully. The content of carboxymethyl groups in each CMC-CTA sample was kept almost constant. The solubility of the various flocculants showed that, higher cationic content of flocculants caused a better solubility. The flocculation experiments using kaolin suspension as synthetic water at the laboratory scale indicated that the substitution degree of CTA was one of the key factors for the flocculation properties. With the increase of cationic content, the flocculants were demonstrated better flocculation performance and lower dosage requirement. Flocculation kinetics model of particles collisions combining zeta potential and turbidity measurements was employed to investigate the effects of the cationic content of the flocculants on the flocculation properties from the viewpoint of flocculation mechanism in detail. Furthermore, flocculation performance using raw water from Zhenjiang part of Yangtze River at the pilot scale showed the similar effects to those at the laboratory scale.