The invention relates to an active front wheel steering control method for an electric motor coach, which comprises a vehicle controller system comprising a side slip angle sliding mode controller and a yaw velocity sliding mode controller, and comprises the following steps of: 1, acquiring information parameters of the current condition of a vehicle under program initialization, the information parameters comprise the yaw velocity, the longitudinal velocity, the side slip angle and the front wheel rotation angle of the mass center of the vehicle; step 2, inputting the obtained information parameter and an expected side slip angle into a side slip angle sliding mode controller to obtain an additional front wheel steering angle control quantity delta beta; step 3, inputting the obtained information parameter and the expected yaw velocity into a yaw velocity sliding mode controller to obtain an additional front wheel steering angle control quantity delta r; step 4, weighting the obtained additional front wheel steering angle control quantity delta beta and delta r to obtain a final front wheel steering angle control quantity delta; and 5, inputting the obtained front wheel steering angle control quantity delta into the vehicle, controlling the vehicle to run, and returning to the step 1.

    本申请涉及一种电动客车主动前轮转向控制方法,包括含有质心侧偏角滑模控制器及横摆角速度滑模控制器的车辆控制器系统,其步骤如下:步骤1,程序初始化下,获取车辆当前状况的信息参数,该信息参数包括车辆质心的横摆角速度、纵向速度、质心侧偏角、前轮转角;步骤2,将获取到的该信息参数以及期望的质心侧偏角输入质心侧偏角滑模控制器,以获得附加前轮转角控制量δβ;步骤3,将获取到的该信息参数以及期望的横摆角速度输入横摆角速度滑模控制器,以获得附加前轮转角控制量δr;步骤4,将获得的附加前轮转角控制量δβ与δr进行加权,获取最终的前轮转角控制量δ;步骤5,将获得的前轮转角控制量δ输入到车辆中,控制车辆运行,并返回至步骤1。


    Access

    Download


    Export, share and cite



    Title :

    Electric motor coach active front wheel steering control method


    Additional title:

    一种电动客车主动前轮转向控制方法


    Contributors:
    LIN JIMING (author) / ZOU TENG (author) / SU LIANG (author) / ZHANG FENG (author) / ZHANG YONG (author)

    Publication date :

    2023-05-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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



    All-wheel drive type electric motor coach steering drive axle

    SUN SHULEI / HE DONG / PENG YIQIANG et al. | European Patent Office | 2020

    Free access

    Front frame for electric motor coach

    CHEN GONG / WANG YAOHUA / SUN CHAO et al. | European Patent Office | 2022

    Free access

    Chassis structure of electric motor coach and steering method

    GAO JIALI / YANG HAI / CHEN GUOHUA | European Patent Office | 2021

    Free access

    Control Methods of Active Front Wheel Steering for 4WD Electric Vehicle

    Zhao, Ming Hui ;Wang, Lian Dong ;Ma, Lei | Trans Tech Publications | 2011


    Comparison of Active Front Wheel Steering and Differential Braking for Yaw/Roll Stability Enhancement of a Coach

    Zheng, Hongyu / Zhang, Jiaxu / Wang, Linlin et al. | SAE Technical Papers | 2018