The invention discloses a distributed electrically-driven unmanned vehicle control method, which comprises the following steps of: calculating an expected driving torque and an expected steering angle of a vehicle in a two-dimensional plane coordinate system according to a two-dimensional push rod drop point coordinate of a control end; the expected driving rotating speeds of the four wheel side motors are calculated according to the expected steering angles; introducing a motor power derating and wheel-side motor torque given mathematical model in an external disturbance state, and discretizing the wheel-side motor torque given mathematical model; torque distribution is carried out on the four wheel side motors by combining the expected driving rotating speed with unipolar PI amplitude limiting and the expected driving torque, and four-wheel driving torques are obtained respectively; and driving torque instructions are issued to the four driving motors at the same time, and distributed electric driving vehicle control is achieved. The method can accurately distribute the motor driving torque, quickly responds to the target control request, and has the advantages of accurate steering, smooth torque, high robustness and the like.
本发明公开了一种分布式电驱动无人车辆控制方法,该方法包括:根据操控端二维推杆落点坐标,计算车辆在二维平面坐标系下的期望驱动转矩和期望转向角;由期望转向角推算出四个轮边电机期望驱动转速;引入电机功率降额和外部扰动状态下的轮边电机转矩给定数学模型,对其进行离散化;通过将期望驱动转速结合单极性PI限幅及期望驱动转矩,对四个轮边电机进行转矩分配,分别得出四轮驱动转矩;对四个驱动电机同时下发驱动转矩指令,实现分布式电驱动车辆控制。本发明能够准确分配电机驱动转矩,快速响应目标操控请求,具有转向精确、力矩平滑、鲁棒性高等优点。
Distributed electric drive unmanned vehicle control method
一种分布式电驱动无人车辆控制方法
2022-07-05
Patent
Electronic Resource
Chinese
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