The invention discloses a braking anti-deviation control method for a double-side independent electrically-driven unmanned tracked vehicle, which is used for braking anti-deviation of the vehicle and is provided with a control framework of a signal input layer, a whole vehicle control layer and an execution layer. Firstly, vehicle speed estimation is carried out according to an acquired original signal; calculating the yaw velocity of the ideal vehicle; judging whether the vehicle deviates or not; then calculating the slip rate of the tracks on the two sides; secondly, formulating a deviation control index; and finally, the actuator executes braking. According to the method, the dynamic parameters of the tracked vehicle are measured and estimated to identify whether the vehicle enters the braking locking working condition, then the tracks on the two sides are controlled to be at the optimal slip rate and yaw velocity, and the stability of the braking direction is guaranteed.

    本发明公开一种双侧独立电驱动无人驾驶履带车辆制动防跑偏控制方法,用于车辆的制动防跑偏,设置信号输入层、整车控制层和执行层的控制架构;首先根据采集的原始信号,进行车速估计;然后进行理想车辆横摆角速度的计算;然后判断车辆是否跑偏;然后计算两侧履带的滑移率;然后制定跑偏控制指标;最后执行器执行制动。本发明通过对履带车辆的动力学参数进行测量和估计识别车辆是否进入制动抱死工况,然后控制两侧履带处于最优滑移率和横摆角速度,保证制动方向的稳定性。


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    Titel :

    Braking anti-deviation control method for double-side independent electrically-driven unmanned tracked vehicle


    Weitere Titelangaben:

    双侧独立电驱动无人驾驶履带车辆制动防跑偏控制方法


    Beteiligte:
    CHEN RUI (Autor:in) / CHEN CHAO (Autor:in) / FAN JINGJING (Autor:in)

    Erscheinungsdatum :

    2023-11-21


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF





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