The invention provides a centrifugal force active compensation synchronous control algorithm and system, and the algorithm comprises the following steps: a following control step: calculating an expected real-time centrifugal force compensation angle when a vehicle turns according to the acceleration information, angular velocity information and vehicle speed information of a vehicle chassis, building a kinetic model of a seat system and a reference model thereof, and carrying out the following control; the disturbance of passengers to a seat system is considered, the self-adaptive control rate is designed, control parameters are adjusted, and a vibration reduction motor follows the expected centrifugal force compensation angle in real time; and a synchronous control step: acquiring the actual rotating speeds of the two vibration reduction motors, calculating the cross coupling error of the rotating speeds, compensating the cross coupling error of the rotating speeds as an additional feedback signal to the following control step of the two seat systems, and performing cross coupling synchronous control on the two vibration reduction motors. Synchronous compensation control over centrifugal force of the two seats is achieved, and the purpose of improving riding comfort is achieved.
本发明提供了一种离心力主动补偿同步控制算法及系统,包括如下步骤:跟随控制步骤:根据车辆底盘的加速度信息、角速度信息以及车辆速度信息,计算车辆转弯时所期望的实时离心力补偿角度,建立座椅系统的动力学模型及其参考模型,考虑乘客对座椅系统的扰动,设计自适应控制率,对控制参数进行调节,使减振电机实时跟上期望的离心力补偿角度;同步控制步骤:获取两个减振电机的实际转速,并计算转速的交叉耦合误差,将转速的交叉耦合误差作为附加的反馈信号补偿至两个座椅系统的跟随控制步骤中,对两个减振电机进行交叉耦合同步控制。本发明实现两个座椅离心力同步补偿的控制,达到提升乘坐舒适性的目标。
Centrifugal force active compensation synchronous control algorithm and system
离心力主动补偿同步控制算法及系统
2024-05-10
Patent
Elektronische Ressource
Chinesisch
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