The invention relates to an energy-saving multi-axle steering control method considering steering resistance energy consumption, which comprises the following steps of: S1, establishing a plurality of model systems, including a multi-axle steering vehicle dynamics model, a wheel motion model, a tire dynamics model and a vehicle reference model; s2, constructing a multi-axle steering resistance energy consumption model based on the multi-axle steering vehicle dynamics model, the wheel motion model and the tire dynamics model; s3, constructing a nonsingular terminal sliding mode control law for accurately tracking a reference state in combination with the multi-axle steering vehicle dynamic model and the vehicle reference model; and S4, based on a quadratic programming optimization algorithm, realizing energy-saving multi-axis rotation angle optimization control by minimizing steering resistance energy consumption. According to the method, the steering resistance energy consumption can be effectively reduced while the transverse stability of the vehicle is ensured.
本发明涉及一种考虑转向阻力能耗的节能多轴转向控制方法,包括以下步骤:步骤S1:建立多个模型系统,包括多轴转向车辆动力学模型、车轮运动模型、轮胎动力学模型以及车辆参考模型;步骤S2:基于多轴转向车辆动力学模型、车轮运动模型和轮胎动力学模型,构建多轴转向阻力能耗模型;步骤S3:结合多轴转向车辆动力学模型和车辆参考模型,构建准确跟踪参考状态的非奇异终端滑模控制律;步骤S4:基于二次规划优化算法,通过最小化转向阻力能耗实现节能多轴转角优化控制。该方法可在确保车辆横向稳定性的同时有效降低转向阻力能耗。
Energy-saving multi-shaft steering control method considering steering resistance energy consumption
一种考虑转向阻力能耗的节能多轴转向控制方法
2024-05-10
Patent
Electronic Resource
Chinese
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