The invention discloses a vehicle fuzzy feed-forward path tracking control method based on hydraulic steering leakage compensation. The method comprises the steps that a steering wheel rotation angle, a wheel rotation angle and a piston rod displacement parameter are obtained; the path tracking algorithm outputs an expected wheel rotation angle and an expected steering wheel rotation angle in different periods; feedforward leakage compensation parameters are obtained through fuzzy control; constructing a fuzzy control system; defuzzification is conducted on the fuzzy control system through a gravity center method to obtain a fuzzy sliding mode controller, the fuzzy sliding mode controller is used for conducting contrastive analysis on the actual rear wheel rotation angle amount, a compensation electromagnetic valve is controlled to conduct liquid supplementing work on each path tracking period, the steps are repeated to conduct calculation of the next period of the path tracking algorithm, and the path tracking algorithm is obtained. And completing the whole path tracking process. According to the method, the parameters of feed-forward compensation can be accurately determined, then the duty ratio of the compensation electromagnetic valve is controlled to carry out accurate and timely compensation on leaked oil, and the precision of path tracking of the intelligent vehicle is improved.
本发明公开了一种基于液压转向泄漏补偿的车辆模糊前馈路径跟踪控制方法,包括:获取方向盘转角、车轮转角和活塞杆位移参数;路径跟踪算法在不同周期内输出期望车轮转角、期望方向盘转角;通过模糊控制得到前馈泄漏补偿参数;构建模糊控制系统;对所述模糊控制系统采用重心法反模糊化,以获取模糊滑模控制器,并利用所述模糊滑模控制器对所述实际后轮转角量进行对比分析,控制补偿电磁阀对每个路径跟踪周期进行补液工作,重复上述步骤进行路径跟踪算法下一周期的计算,完成整个路径跟踪过程。本发明可准确的确定前馈补偿的参数,进而控制补偿电磁阀占空比对泄漏油液进行精确及时的补偿,并提高智能车辆路径跟踪的精度。
Vehicle fuzzy feed-forward path tracking control method based on hydraulic steering leakage compensation
一种基于液压转向泄漏补偿的车辆模糊前馈路径跟踪控制方法
2023-10-03
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / F15B SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL , Druckmittelbetriebene Systeme allgemein / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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