The invention discloses a real-time estimation method and system for sliding parameters of a crawler based on a sliding-mode observer, and the method comprises the steps: judging the driving working condition to which the vehicle state at the current moment belongs according to the real-time yaw angle of the crawler and a flag bit corresponding to the driving working condition of the crawler at the previous moment, and outputting the corresponding flag bit; if the flag bit corresponding to the current vehicle driving working condition is inconsistent with the flag bit corresponding to the vehicle driving working condition at the previous moment, driving working condition switching occurs, an observation value resetting strategy is executed, and a reset tracked vehicle sliding parameter estimated value at the previous moment is output; and carrying out real-time estimation on the sliding parameters of the crawler at the current moment. According to the method, the sliding parameters of the crawler are quickly, stably and accurately estimated on the premise that the longitudinal speed of the crawler does not need to be obtained; and the applicability of the algorithm under various special working conditions is improved while the estimation precision and the convergence speed are ensured.

    本申请公开了一种基于滑模观测器的履带车滑动参数实时估计方法及系统,方法包括:根据履带车实时横摆角以及上一时刻履带车行驶工况对应的标志位判断当前时刻车辆状态所属的行驶工况,并输出对应标志位;若当前车辆行驶工况对应的标志位与上一时刻车辆行驶工况对应的标志位不一致,则发生行驶工况切换,执行观测值重置策略,输出重置后的上一时刻履带车滑动参数估计值;对履带车当前时刻滑动参数进行实时估计。本申请实现在无需获取车辆纵向速度的前提下,对履带车滑动参数的快速、稳定、精确估计;在保证估计精度、收敛速度的同时提高了算法在各种特殊工况下的适用性。


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    Title :

    Crawler sliding parameter real-time estimation method and system based on sliding-mode observer


    Additional title:

    基于滑模观测器的履带车滑动参数实时估计方法及系统


    Contributors:
    QIN ZHAOBO (author) / HOU JIAHUI (author) / CUI QINGJIA (author) / BIAN YOUGANG (author) / XU BIAO (author) / QIN HONGMAO (author) / QIN XIAOHUI (author) / HU MANJIANG (author) / XIE GUOTAO (author) / WANG XIAOWEI (author)

    Publication date :

    2023-07-18


    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





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