The invention relates to the field of vehicle control, and provides a full-axle steering control method and system for a multi-articulated vehicle, a controller and the vehicle. The steering angle of each shaft of the end compartment is determined and the speed direction of a hinged tracking point is restrained by adopting the deviation feedback control of the same base line for the end compartment, so that the tracking control precision is improved, the state of the middle compartment is restrained, the influence of front and back hinging on the movement of the middle compartment is reduced, and the abrasion of a hinged disc is reduced; the middle compartment determines the steering angle of each shaft of the middle compartment according to the speed direction of the constrained hinged tracking point based on the multi-shaft steering relation of the speed instantaneous center, and the steering angle is coordinated with the posture of the end compartment, so that the problem of vehicle dragging is solved, and the riding comfort of the vehicle is improved.
本发明涉及车辆控制领域,提供一种多铰接车辆全轴转向控制方法、系统、控制器及车辆,该方法首先从车辆运动学角度上对车辆多轴转向关系进行协调设计,端部车厢采用共基线的偏差反馈控制确定端部车厢各轴的转向角并约束铰接循迹点的速度方向,提高循迹控制精度的同时约束了中间车厢状态,减少了前后铰接对中间车厢的运动影响,降低了铰接盘的磨耗;中间车厢基于速度瞬心的多轴转向关系,根据被约束后的铰接循迹点的速度方向确定中间车厢各轴的转向角,与端部车厢姿态相协调,解决了车辆拖拽的问题,提高了车辆乘坐舒适性。
Full-axle steering control method and system for multi-articulated vehicle, controller and vehicle
多铰接车辆全轴转向控制方法、系统、控制器及车辆
2024-08-16
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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