The invention discloses a vehicle yawing moment control method, system and device, and a storage medium. The method comprises the steps of establishing a vehicle dynamic model; determining a sliding mode controller according to the vehicle dynamic model, and dynamically adjusting a control weight coefficient of a yaw angle, the control weight coefficient of a yaw velocity and the control weight coefficient of a side slip angle in the sliding mode controller to obtain a yaw moment controller; and controlling the yawing moment of the vehicle according to a yawing moment controller. According tothe method, the yaw angle, the yaw velocity and the control weight coefficient of the side slip angle of the sliding mode controller are dynamically adjusted so that the yawing moment controller can be designed, and requirements of realizing path error compensation and vehicle stability coordination control under different working conditions are effectively met. The method, the system, the deviceand the storage medium can be widely applied to the field of rail train detection.
本发明公开了一种车辆横摆力矩控制方法、系统、装置及存储介质,方法包括:建立车辆动力学模型;根据车辆动力学模型,确定滑模控制器,并对所述滑模控制器中横摆角的控制权重系数、横摆角速度的控制权重系数和质心侧偏角的控制权重系数进行动态调整,得出横摆力矩控制器;根据所述横摆力矩控制器,对车辆的横摆力矩进行控制。本发明通过对滑模控制器的横摆角、横摆角速度以及质心侧偏角的控制权重系数进行动态调节,从而能设计横摆力矩控制器,有效满足了在不同工况下实现路径误差补偿和车辆稳定性协调控制的需求。本发明可广泛应用于轨道列车检测领域中。
Vehicle yawing moment control method, system and device, and storage medium
一种车辆横摆力矩控制方法、系统、装置及存储介质
2020-11-20
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / 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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