The invention provides a multi-axis controlled chassis capable of improving driving safety and a coordination control method of the multi-axis controlled chassis. A suspension system; a brake-by-wire, independent steering and driving device; a signal acquisition and wireless remote control device; according to the structure, in the low-speed stage, the drive-by-wire chassis controls the drive-by-wire independent wheel steering device according to the target track curvature of driving and the obstacle distance, and safe and efficient steering driving is carried out by adopting switching combination of multiple steering modes and independently and accurately controlling the rotating angle through the electric servo cylinder; the hub motor adopts average torque control to avoid energy consumption caused by frequent torque adjustment; in the high-speed stage, the drive-by-wire hub motor control device uses a high-robustness fuzzy sliding mode controller to carry out differential torque control, the steering posture of a drive-by-wire chassis is adjusted, and the trajectory tracking precision is improved; a wireless remote control device and a drive-by-wire steering driving device are combined for coordinated control, and the steering safety of the drive-by-wire chassis under the working condition of the whole road surface and the safe passing capacity of the drive-by-wire chassis under the narrow road condition are improved.
本发明提出一种可提升行驶安全性的多轴线控底盘及其协调控制方法,包括:车架;悬架系统;线控制动、独立转向和驱动装置;信号采集和无线遥控装置;匹配上述结构,在低速阶段,线控底盘根据行驶的目标轨迹曲率和障碍物距离控制线控独立轮转向装置,采用多种转向模式切换组合并通过电动伺服缸独立精准控制转角进行安全高效转向行驶,轮毂电机采用平均转矩控制避免频繁调整转矩带来的能耗;在高速阶段,线控轮毂电机控制装置应用高鲁棒性的模糊滑模控制器进行差异化转矩控制,调整线控底盘的转向姿态并提高轨迹跟踪精度;应用无线遥控和线控转向驱动装置相结合进行协调控制,提高线控底盘在全路面工况下的转向安全性和狭窄路况的安全通过能力。
Multi-axis line control chassis capable of improving driving safety and coordination control method of multi-axis line control chassis
一种可提升行驶安全性的多轴线控底盘及其协调控制方法
2023-06-23
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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