The invention discloses a distributed electric loader yaw moment control method and device and a medium. The method comprises the steps that the ideal side slip angle and the yaw velocity of an electric loader are calculated according to a two-degree-of-freedom kinematics model; calculating an actual side slip angle and an actual yaw velocity according to the seven-degree-of-freedom kinematics model; a joint coefficient sliding mode control module is used for tracking the error between the ideal side slip angle and the actual side slip angle and the error between the ideal yaw velocity and the actual yaw velocity, and the additional yaw moment of the side slip angle and the additional yaw moment of the yaw velocity are obtained through calculation; the vehicle instability condition is judged through a # imgabs0 # phase plane graph, if the vehicle is unstable, a side slip angle is selected to follow and output additional yaw moment, and if the vehicle is not unstable, the additional yaw moment is output in combination with yaw velocity following and side slip angle following according to a certain distribution proportion p; the situation that the yawing moment is too large or too small due to emergencies can be effectively restrained.

    本发明公开了一种分布式电动装载机横摆力矩控制方法、装置及介质,所述方法包括根据二自由度运动学模型计算电动装载机的理想质心侧偏角和横摆角速度;根据七自由度运动学模型计算实际质心侧偏角与实际横摆角速度;使用联合系数滑膜控制模块跟踪理想质心侧偏角与实际质心侧偏角的误差,以及理想横摆角速度与实际横摆角速度的误差,计算得到质心侧偏角和横摆角速度的附加横摆力矩;通过#imgabs0#相平面图判断车辆失稳情况,如果车辆失稳,则选择质心侧偏角跟随输出附加横摆力矩,如果车辆未失稳,则按照一定分配比例p,联合横摆角速度跟随和质心侧偏角跟随输出附加横摆力矩,本发明能够有效抑制突发情况造成的横摆力矩过大或过小的情况。


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    Title :

    Method and device for controlling yawing moment of distributed electric loader and medium


    Additional title:

    一种分布式电动装载机横摆力矩控制方法、装置及介质


    Contributors:
    YANG XINGUANG (author) / DONG WENWEN (author) / ZHANG NING (author) / LIU YANG (author) / ZHANG QINGZHENG (author) / ZENG XUNNAN (author) / LI ZHONGYU (author) / GENG RUI (author)

    Publication date :

    2024-03-22


    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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