The invention discloses an integrated control system for coordination of steering and differential braking of active rear wheels of a multi-axle special vehicle, which belongs to the technical field of automobile electronic control and comprises a signal input module for providing corresponding signal input quantity for a decision module and a distribution module; the decision module is used for deciding a cooperative control instruction of each sub-controller in the distribution module and sending the cooperative control instruction to the distribution module; the distribution module is used for receiving the cooperative control instruction decided by the decision module, calculating an active steering angle of an active steering shaft wheel and a braking torque of each wheel, and then sending each calculated control quantity to the execution module; and the execution module is used for executing each control quantity sent by the distribution module according to the Tricksim dynamic model of the multi-axle special vehicle and feeding back the motion state of the vehicle, and the technical problem of how to improve the driving stability of the multi-axle special vehicle based on the active safety technology of the chassis can be solved.
本发明公开了一种多轴特种车辆主动后轮转向与差动制动协调的集成控制系统,属于汽车电子控制技术领域,包括信号输入模块,用于为决策模块和分配模块提供相应的信号输入量;决策模块,用于决策出分配模块中各子控制器的协同控制指令,并将协同控制指令发送至分配模块;分配模块,用于接收决策模块决策出的协同控制指令,并计算主动转向轴车轮的主动转向角与各车轮的制动力矩,然后将计算得到的各控制量发送给执行模块;执行模块,用于根据多轴特种车辆的Trucksim动力学模型,执行分配模块发送过来的各控制量,并反馈车辆的运动状态,本发明能够解决如何基于底盘的主动安全技术提升多轴特种车辆的行驶稳定性的技术问题。
Integrated control system for coordination of steering and differential braking of active rear wheels of multi-axle special vehicle
多轴特种车辆主动后轮转向与差动制动协调的集成控制系统
2023-03-03
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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