The invention provides a direct force dynamics control method and a direct force dynamics control system for an all-wheel independent steering and independent driving unmanned vehicle. According to the method, the longitudinal driving force of each independent driving wheel of a vehicle is directly controlled to achieve the decoupling of the motion freedom degrees of all planes of the vehicle, sothat the plane motion vector at the mass center of the vehicle can be directly controlled so as to make the vehicle complete high-maneuverability actions incapable of being completed by the traditional vehicle to substantially improve the track tracking capacity and the maneuverability of the unmanned vehicle, wherein the high-maneuverability actions comprise plane crab-shaped motion, spin turn motion and the like. According to the invention, the method and the system are suitable for unmanned vehicles adopting an all-wheel independent steering and independent driving technology; by adopting the direct force dynamics control system, the comprehensive coordination control of the steering angle and the driving force of each vehicle wheel can be realized, so that the vehicle can well completecomplex actions such as planar crab-shaped motion, spin turn motion and the like, the track tracking capacity and the maneuverability of the unmanned vehicle in extreme environments such as narrow space and the like are improved, and the use requirements of the unmanned vehicle in civil complex scenes or military scenes are met.

    本发明提供一种全轮独立转向及独立驱动无人车直接力动力学控制方法及系统,通过对车辆各独立驱动车轮的纵向驱动力的直接控制,实现车辆各平面运动自由度的解耦,使车辆质心处的平面运动矢量可以直接受控,进而使车辆完成传统车辆无法完成的高机动性动作,包括平面蟹形运动与原地转向运动等,大幅提高无人车的轨迹跟踪能力与机动能力。本发明适用于采用全轮独立转向及独立驱动技术的无人车,采用该直接力动力学控制系统能够实现各车轮转向角及驱动力的综合协调控制,使车辆更好的完成平面蟹形运动、原地转向运动等复杂动作,提高无人车在狭窄空间等极端环境下的轨迹跟踪能力与机动能力,满足民用复杂场景或军用场景下无人车的使用需要。


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    Titel :

    Direct force dynamics control method and direct force dynamics control system for all-wheel independent steering and independent driving unmanned vehicle


    Weitere Titelangaben:

    全轮独立转向及独立驱动无人车直接力动力学控制方法及系统


    Beteiligte:
    NI JUN (Autor:in) / JIANG XU (Autor:in) / LI YUANZHE (Autor:in) / YUAN HAO (Autor:in) / WU JIAFENG (Autor:in)

    Erscheinungsdatum :

    2020-05-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge