The invention discloses a steering consistency corner distribution control method suitable for a sliding plate chassis. The steering consistency corner distribution control method comprises the steps that the yaw velocity, the slip angle and steering instantaneous center coordinates based on a vehicle coordinate system of a vehicle are estimated; establishing an ideal vehicle two-degree-of-freedom model according to the vehicle sliding plate chassis kinematics equation; constructing an ideal value correction controller, and performing optimization design compensation on the ideal value; according to the vehicle yaw velocity, the side slip angle and the steering instantaneous center coordinates based on the vehicle coordinate system, calculating a target deviation value with the ideal state; establishing a four-wheel independent steering system model; calculating a lateral motion virtual control force and a yaw motion virtual control moment; and calculating the control turning angle of each tire according to the calculated geometric instantaneous center coordinates. According to the method, the problem of steering inconsistency caused by existence of control redundancy and rising of the degree of freedom can be effectively solved, and the steering stability of the vehicle is effectively improved.
本发明公开了一种适用于滑板底盘的转向一致性转角分配控制方法,包括:对车辆横摆角速度、侧偏角、基于车辆坐标系的转向瞬心坐标进行估计;根据车辆滑板底盘运动学方程建立理想的车辆二自由度模型;构建理想值修正控制器,对理想值进行优化设计补偿;根据车辆横摆角速度、侧偏角和基于车辆坐标系的转向瞬心坐标,计算与理想状态之间的目标偏差值;建立四轮独立转向系统模型;计算侧向运动虚拟控制力和横摆运动虚拟控制力矩;根据所计算的几何瞬心坐标,计算各个轮胎的控制转角。本发明方法可以有效解决由于控制冗余的存在和自由度的上升引起的转向不一致性问题,有效提高车辆转向稳定性。
Steering consistency corner distribution control method suitable for sliding plate chassis
一种适用于滑板底盘的转向一致性转角分配控制方法
2023-07-28
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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