The invention discloses a reconfigurable distributed driving multi-axis vehicle trajectory tracking method and a carrying device. The method comprises the following steps: acquiring longitudinal and transverse movement speeds and yaw velocity of a vehicle body in real time; acquiring position information and target path information of a vehicle, and matching a trajectory tracking target point; establishing a vehicle three-degree-of-freedom dynamic model for trajectory tracking; according to a longitudinal dynamic model of the vehicle, a sliding mode control method is adopted to solve longitudinal force needed by the whole vehicle, and the effect of tracking the specified speed is achieved; a tracking error model is obtained, and the rotation angle of each wheel and the yaw moment of the whole vehicle are calculated based on a nonlinear model predictive control algorithm; distributing the longitudinal tire force of each wheel according to the definition of the tire adhesion rate and the requirements of the longitudinal force and the yawing moment of the whole vehicle output by the upper-layer controller, and converting the longitudinal tire force into motor torque; and controlling a steering system and a wheel motor of the vehicle to execute the wheel steering angle and torque instruction. The control stability and trajectory tracking precision of the vehicle can be improved.
本发明公开一种可重构分布式驱动多轴车辆轨迹跟踪方法及运载装置。方法包括实时获取车身的纵、横向运动速度和横摆角速度;获取车辆的位置信息,目标路径信息,并匹配轨迹跟踪目标点;建立用于轨迹跟踪的车辆三自由度动力学模型;根据车辆的纵向动力学模型,采用滑模控制方法求解整车所需纵向力,达到跟踪指定速度的效果;得到跟踪误差模型,基于非线性模型预测控制算法计算出各轮转角和整车横摆力矩;根据轮胎附着率的定义与上层控制器输出的整车纵向力与横摆力矩要求,分配各轮纵向轮胎力,并转化为电机扭矩;控制车辆的转向系统和车轮电机执行车轮转向角和扭矩指令。本发明有利于提高车辆的操纵稳定性和轨迹跟踪精度。
Reconfigurable distributed driving multi-axle vehicle trajectory tracking method and carrying device
一种可重构分布式驱动多轴车辆轨迹跟踪方法及运载装置
24.12.2024
Patent
Elektronische Ressource
Chinesisch
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