Steering Dynamics Analysis and Fuzzy Adaptive PID-Based Anti-Slip Control Strategy for Tracked Snow Groomers on Long Gentle Slopes

This paper investigates drive anti-slip control for tracked snow groomers on long gentle ski slopes, addressing traction attenuation, trajectory deviation and safety deterioration caused by coupled longitudinal slip and lateral skid during steering. Combining theoretical modeling, numerical simulation, indoor tests and field tests, three core research modules are systematically carried out. The coupling mechanical mechanism between tracks and snow is revealed based on terramechanics theory, and a ground mechanics model considering dynamic variations in snow properties is established. The nonlinear correlation between traction force and slip ratio under various working conditions is clarified, and the optimal slip ratio range is determined. A fuzzy adaptive PID-based anti-slip drive control strategy adapted to long gentle slopes is proposed. The research results show that the traction–slip characteristic of compacted slope snow peaks at a slip ratio of about 5%, with the peak traction exceeding the residual level by 21.05% for the outer track and 22.9% for the inner track, and that the proposed strategy stabilizes the track slip ratio within the identified optimal band of 2–7% and effectively suppresses track slipping. This study provides theoretical support and engineering technical solutions for the efficient and safe operation of tracked snow groomers on long gentle slopes, and also offers references for the performance optimization of ski runway maintenance equipment.