The invention discloses a pivot steering closed-loop control method for a four-wheel hub motor driven automobile. The pivot steering closed-loop control method comprises the following steps: determining a reference; obtaining a target yaw angle and a yaw velocity; in the steering process, the upper-layer controller tracks the yaw velocity of the target, and the lower-layer controller tracks the course angle of the target; detecting an error between the actual course angle and the target course angle, cutting off power output and starting mechanical braking after the error is smaller than a preset threshold value, and enabling the vehicle to stop in-situ steering motion. According to the invention, a pure differential steering method is adopted, so that the in-situ steering of the automobile driven by the four-wheel hub motor under the constraint of the Ackerman steering mechanism is realized; according to the method, steering time-sharing control is adopted, time sequence planning is carried out on a control target in a stable rotation stage, and in-situ steering motion of any steering angle within an allowable range is achieved; layered control is adopted, the target steering angle input by a user is planned, meanwhile, the yaw angle and the yaw velocity are tracked, and stable control over in-situ steering motion is achieved.

    本发明公开了一种四轮轮毂电机驱动汽车原地转向闭环控制方法,包括以下步骤:确定基准;得到目标横摆角和横摆角速度;转向过程中上层控制器跟踪目标横摆角速度、下层控制器跟踪目标航向角;检测实际航向角与目标航向角之间的误差,误差小于预设阈值后切断动力输出并启动机械制动,使车辆停止原地转向运动。本发明采用纯差动转向的方法,实现了在阿克曼转向机构约束下的四轮轮毂电机驱动汽车的原地转向;本发明采用转向分时控制,通过对平稳转动阶段的控制目标进行时序规划,实现了允许范围内任意转向角的原地转向运动;本发明采用分层控制,对用户输入的目标转向角进行规划,同时追踪横摆角和横摆角速度,实现了原地转向运动的平稳控制。


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    Title :

    Pivot steering closed-loop control method for automobile driven by four-wheel hub motor


    Additional title:

    一种四轮轮毂电机驱动汽车原地转向闭环控制方法


    Contributors:
    GUO LIE (author) / ZHAO YIJIE (author) / TAN ZHENYU (author) / QI CHANG (author) / YANG SHU (author)

    Publication date :

    2023-09-08


    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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