The invention relates to the technical field of multi-axle vehicle chassis control, in particular to a multi-axle vehicle distributed steering system and a control method thereof. The multi-axle vehicle distributed steering system comprises a speed sensor, a proportional steering angle controller, a PID controller, a steering angle sensor, an actuator and a current controller. Determining rotation angle values of the other two shafts; a steering angle sensor collects a steering angle signal of each wheel in real time, the steering angle signal and a target steering angle signal are processed and calculated through a PID controller to obtain an active steering torque of a steering motor, and the active steering torque is applied to the wheels; the current controller controls the current required by the actuator in real time according to the control instruction of the proportional steering angle controller, and applies the required active torque to the steering mechanism in real time through the actuator, so that the wheel steering angle value continuously approaches the target value; according to the technical scheme, the control stability of the multi-axle vehicle during high-speed driving and the maneuverability of the multi-axle vehicle during low-speed driving can be improved.
本发明涉及多轴车辆底盘控制技术领域,具体涉及一种多轴车辆分布式转向系统及其控制方法:包括速度传感器、比例转角控制器、PID控制器、转角传感器、执行器和电流控制器,比例转角控制器通过计算车辆各轴转角比例的关系,从而确定其余两轴的转角值;转角传感器实时采集每个车轮的转角信号,将该转角信号与目标转角信号通过PID控制器处理计算得到转向电机的主动转向扭矩并施加在车轮上;电流控制器根据比例转角控制器的控制指令实时控制执行器所需要的电流,并通过执行器将所需的主动扭矩实时施加在转向机构上,使车轮转角值不断逼近目标值,本技术方案能够提高多轴车辆在高速行驶时的操纵稳定性和低速行驶时的机动性。
Multi-axle vehicle distributed steering system and control method thereof
一种多轴车辆分布式转向系统及其控制方法
13.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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