Disclosed are an apparatus and method for controlling articulation of an articulated vehicle. The apparatus includes a yaw rate calculator configured to calculate a desired yaw rate based on a steering angle and a speed of the articulated vehicle, a first moment generator configured to generate a yaw rate control moment based on the desired yaw rate and an actual yaw rate of the articulated vehicle, a second moment generator configured to generate a hitch damping control moment based on a hitch angular velocity of the articulated vehicle, an adder configured to output a final moment for controlling the articulation of the articulated vehicle by adding the yaw rate control moment and the hitch damping control moment, and an articulation controller configured to control the articulation of the articulated vehicle based on the final moment.
本发明公开了用于控制铰接式车辆的铰接的装置和方法。所述装置包括:横摆率计算器、第一力矩产生器、第二力矩产生器、加法器以及铰接控制器,所述横摆率计算器配置为基于铰接式车辆的转向角和车速来计算所需横摆率;所述第一力矩产生器配置为基于铰接式车辆的所需横摆率与实际横摆率来产生横摆率控制力矩;所述第二力矩产生器配置为基于铰接式车辆的牵引角速度产生牵引阻尼控制力矩;所述加法器配置为输出通过将横摆率控制力矩与牵引阻尼控制力矩相加而获得的用于控制铰接式车辆的铰接的最终力矩;所述铰接控制器配置为基于最终力矩来控制铰接式车辆的铰接。
APPRATUS AND METHOD FOR CONTROLLING ARTICULATION OF ARTICULATED VEHICLE
用于控制铰接式车辆的铰接的装置和方法
17.12.2021
Patent
Elektronische Ressource
Chinesisch
IPC: | B60D Fahrzeugverbindungen , VEHICLE CONNECTIONS |
APPRATUS AND METHOD FOR CONTROLLING ARTICULATION OF ARTICULATED VEHICLE
Europäisches Patentamt | 2021
|APPRATUS AND METHOD FOR CONTROLLING ARTICULATION OF ARTICULATED VEHICLE
Europäisches Patentamt | 2021
|APPRATUS AND METHOD FOR CONTROLLING ARTICULATION OF ARTICULATED VEHICLE
Europäisches Patentamt | 2021
|APPARATUS AND METHOD FOR CONTROLLING ARTICULATION OF ARTICULATED VEHICLE
Europäisches Patentamt | 2021
|