The invention discloses a control method for differential traction drive and steering shaft coordination of a special vehicle, which comprises the following steps of: starting steering motion based on the current running speed and steering speed of the special vehicle by taking the running direction of the vehicle as a positive direction; determining the starting speed of a left wheel and the starting speed of a right wheel according to the running speed of the current special vehicle, the distance from a steering shaft to the center of the left wheel, the distance from the steering shaft to the center of the right wheel and the steering speed; according to the current traveling speed of the special vehicle, the distance from the steering shaft to the center of a left wheel, the distance from the steering shaft to the center of a right wheel and the distance from the pivot point position to the steering shaft, the left wheel ending speed and the right wheel ending speed are determined; when a difference angle between the current steering angle and the desired steering angle is less than a set steering angle threshold, an excessive speed is applied to the left wheel and the right wheel. The steering motion can be adjusted and controlled during the working period of the special vehicle, the work of steering starting, steering adjusting and steering ending is completed, and the control precision of the special vehicle is improved.
本发明公开了一种特种车辆的差动牵引驱动和转向轴协调的控制方法,包括:以汽车行进的方向为正方向,基于当前特种车辆的行进速度和转向速度启动转向运动;根据当前特种车辆的行进速度、转向轴到左轮中心的距离、转向轴到右轮中的距离、以及转向速度,确定左轮启动速度和右轮启动速度;根据当前特种车辆的行进速度、转向轴到左轮中心的距离、转向轴到右轮中心的距离、以及枢轴点位置到转向轴的距离,确定左轮结束速度和右轮结束速度;当当前转向角和期望转向角之间的差角小于设定的转向角阈值时,对左轮和右轮施加过度速度。能够在特种车辆工作期间对转向运动进行调节和控制,完成转向启动、转向调节和转向结束的工作,提高特种车辆的控制精度。
Differential traction drive and steering shaft coordination control method for special vehicle
一种特种车辆的差动牵引驱动和转向轴协调的控制方法
30.05.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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