The invention relates to a traction force control method, which is suitable for a vehicle in which two driving wheels are driven by one engine/motor, and comprises the following steps of: 1, acquiring a state equation of a nonlinear system of the vehicle based on a stress diagram of the driving wheels in the running process of the vehicle; 2, linearizing the state equation of the nonlinear system by using the Taylor expansion theorem to obtain a linearized state equation; thirdly, according to the linearized state equation, traction force control is achieved through a state feedback control method of a linear quadratic regulator.
本发明涉及一种牵引力控制方法,其适用于由一个发动机/电动机驱动两个驱动轮的车辆,包括如下步骤:第一步骤,基于车辆在行驶过程中的驱动轮的受力图获取车辆的非线性系统的状态方程;第二步骤,利用泰勒展开定理对非线性系统的状态方程进行线性化,得到线性化的状态方程;以及第三步骤,根据线性化的状态方程,采用线性二次型调节器的状态反馈控制方法实现牵引力控制。
Traction force control method and device and electronic equipment
牵引力控制方法、装置及电子设备
2023-10-27
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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