The invention provides a variable structure three-axis unmanned vehicle driving anti-skid control method for a field environment, which is characterized by comprising the following steps of: 1, acquiring sensor information, and judging a vehicle driving mode according to the sensor information; 2, selecting an optimal slip rate parameter under each driving mode according to the driving mode of the vehicle; step 3, constructing a multi-agent architecture in each driving mode according to the driving mode of the vehicle and the optimal slip rate in each driving mode; 4, designing a slip rate tracking controller, and controlling the slip rate and the torque of the wheels according to the slip rate tracking controller; according to the method, the slip rate control strategy of the three-axis unmanned vehicle with the variable structure can be self-adaptively corrected when the environment is changed, so that the requirement of safe and stable driving is met.

    本发明提供了一种针对野外环境的可变结构三轴无人车驱动防滑控制方法,其特征在于,所述方法包括以下步骤:步骤1:采集传感器信息,根据传感器信息判断车辆行驶模式;步骤2:根据车辆的行驶模式,选取各行驶模式下的最优滑移率参数;步骤3:根据车辆的行驶模式和各行驶模式下的最优滑移率,构建各行驶模式下的多智能体架构;步骤4:设计滑移率跟踪控制器,根据滑移率跟踪控制器控制车轮的滑移率和转矩;本发明有利于在环境发生改变时对可变结构三轴无人车的滑移率控制策略进行自适应修正,以满足安全稳定行驶的要求。


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    Title :

    Variable-structure three-axis unmanned vehicle driving anti-skid control method for field environment


    Additional title:

    一种针对野外环境的可变结构三轴无人车驱动防滑控制方法


    Contributors:
    WANG WENHAO (author) / LU SHENGYANG (author) / XU XIAOJUN (author) / JIANG YUE (author) / ZHANG LEI (author)

    Publication date :

    2023-07-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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