The invention discloses a multi-axle special vehicle transverse and longitudinal coupling integrated control method which comprises the steps that 1, a control system structure for multi-axle special vehicle integrated control is established, and a control system comprises an upper-layer motion controller and a lower-layer distribution controller; 2, designing a motion controller based on an LQR optimal control and sliding mode control principle; 3, designing a distribution controller based on the optimal tire longitudinal force with the minimum tire load rate; according to the method, a special vehicle transverse and longitudinal motion controller based on linear quadratic optimal control and sliding mode control is designed; establishing a relationship among a side slip angle weight coefficient, a yaw velocity weight coefficient and a road surface friction coefficient; the optimal distribution control of the longitudinal force of the wheels with the minimum total load rate of the tires as the optimization target is achieved, and the method has the advantages of being good in robustness, high in control sensitivity and capable of effectively improving the running stability and battlefield survivability of the multi-axle special vehicle.

    本发明公开了一种多轴特种车辆横纵耦合集成控制方法,包括步骤1:建立多轴特种车辆集成控制的控制系统结构,所述控制系统包括上层运动控制器和下层分配控制器;步骤2:基于LQR最优控制与滑膜控制原理设计运动控制器;步骤3:基于轮胎负荷率最小的最优轮胎纵向力设计分配控制器;本方法设计了基于线性二次型最优控制与滑膜控制的特种车辆横纵向运动控制器;建立了质心侧偏角权重系数、横摆角速度权重系数与路面摩擦系数的关系;实现了以轮胎总负荷率最小为优化目标的车轮纵向力最优分配控制,具有鲁棒性好、控制灵敏性高、能有效提高多轴特种车辆的行驶稳定性与战场生存能力的特点。


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    Titel :

    Multi-axle special vehicle transverse and longitudinal coupling integrated control method


    Weitere Titelangaben:

    一种多轴特种车辆横纵耦合集成控制方法


    Beteiligte:
    LIU ZHIHAO (Autor:in) / CHENG HONGJIE (Autor:in) / CHEN SHUAIRONG (Autor:in) / YANG JIANFU (Autor:in) / LIU XIUYU (Autor:in) / GAO QINHE (Autor:in) / MA CHAOQUN (Autor:in) / GAO LEI (Autor:in) / MA DONG (Autor:in)

    Erscheinungsdatum :

    2023-10-27


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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