The invention discloses a steering control system and method of a full-hydraulic steering system of an unmanned vehicle and the vehicle, and belongs to the technical field of intelligent driving. A first feed-forward controller in the steering control system applies a first feed-forward quantity consistent with the direction of the current target steering angle request or the direction of the current target steering angle request trend to the full-hydraulic steering system when the current target steering angle request or the current target steering angle request trend is switched; the size of the first feed-forward quantity is related to the size of the current target corner request; when the absolute value of the difference between the current target rotation angle and the actual rotation angle fed back by the rotation angle sensor is greater than the setting coefficient, the second feed-forward controller applies a second feed-forward quantity; and the response speed controller calculates the difference value and applies a control quantity corresponding to an operation result, so that the response speed of the full-hydraulic steering system is increased together with the second feedforward controller. According to the method, the steering switching response speed, the adjusting precision, the adjusting speed, the static response characteristic and the dynamic response characteristic can be improved.
本申请公开了一种无人车的全液压转向系统的转向控制系统、方法及车辆,属于智能驾驶技术领域。转向控制系统中的第一前馈控制器在当前目标转角请求或当前目标转角请求趋势切换方向时,向全液压转向系统施加与当前目标转角请求或当前目标转角请求趋势的方向一致的第一前馈量,第一前馈量的大小与当前目标转角请求的大小相关;第二前馈控制器在当前目标转角与转角传感器反馈的实际转角的差值的绝对值大于置位系数时,施加第二前馈量;响应速度控制器对差值进行运算,施加运算结果对应的控制量,以便与第二前馈控制器共同提高全液压转向系统的响应速度。本申请能够提高转向切换的响应速度、调节精度、调节速度、静态响应特性和动态响应特性。
Steering control system and method of full-hydraulic steering system of unmanned vehicle and vehicle
无人车的全液压转向系统的转向控制系统、方法及车辆
2023-01-24
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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