The invention provides a method and system for predicting the state of a tracked vehicle in a limit state, and relates to the technical field of tracked vehicle dynamics, and the method comprises the steps: constructing a tracked vehicle control model according to a tracked vehicle vertical mechanical model, a track contact model and a tracked vehicle horizontal plane dynamic model, control vectors, corresponding state vectors and target state vectors of a plurality of continuous moments before the current moment are obtained to serve as a parameter optimization data set, so that a control model parameter set in the constructed tracked vehicle control model is optimized, and the tracked vehicle control model with the optimized control model parameter set is obtained; after the parameter set of the control model is optimized and fixed, the optimized tracked vehicle control model can accurately predict the state vector of the tracked vehicle at the next moment according to the state vector and the control vector of the tracked vehicle at the current moment. And high-precision dynamic description of the unmanned tracked vehicle can be realized.

    本发明提供了一种极限状态下的履带车辆状态预测方法及系统,涉及履带车辆动力学技术领域,方法包括:根据履带车辆垂向力学模型、履地接触模型和履带车辆水平面动力学模型,构建履带车辆控制模型,获取当前时刻之前连续若干时刻的控制向量、对应的状态向量和目标状态向量,作为参数优化数据集,以此优化所构建的履带车辆控制模型中的控制模型参数集,以得到控制模型参数集优化后的履带车辆控制模型,在控制模型参数集优化固定后,根据履带车辆当前时刻的状态向量和控制向量,该优化后的履带车辆控制模型可精确预测履带车辆下一时刻的状态向量,本发明充分考虑了履带车辆的动力性能以及地面附着特性,可以实现无人履带车辆的高精度动力学描述。


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    Titel :

    Method and system for predicting state of tracked vehicle in limit state


    Weitere Titelangaben:

    一种极限状态下的履带车辆状态预测方法及系统


    Beteiligte:
    XI JUNQIANG (Autor:in) / DONG HAOTIAN (Autor:in) / YU HUILONG (Autor:in)

    Erscheinungsdatum :

    2024-04-12


    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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