The invention provides a self-adaptive steering mode switching control method for a multi-axis control chassis. The method comprises the following steps: S1, establishing a kinematics model of a multi-axis control chassis to describe a kinematics state during low-speed driving; s2, considering external bounded random disturbance and parameter uncertainty, regarding a chassis steering mode as an optional subsystem, and constructing a uniform switching model for state interconnection of all steering modes; s3, an internal coupling sliding mode surface is constructed based on the state error of the multi-axis control chassis, a correction reaching law is designed, an improved non-buffeting internal coupling sliding mode controller ICSMC is established, and continuous control input of all subsystems is optimized; s4, establishing a supervision criterion for describing an energy attenuation law of the system, and constructing an evaluation rule for distinguishing unmatched sub-controllers, so as to realize autonomous switching of each subsystem, optimize and select controller parameters, and ensure the global stability and H infinity performance of the system; according to the invention, the flexibility and tracking control performance of the multi-axis control chassis are improved.

    本发明提出一种用于多轴线控底盘的自适应转向模式切换控制方法,包括以下步骤;步骤S1:建立多轴线控底盘的运动学模型,以描述低速行驶时的运动学状态;步骤S2:考虑外部有界随机扰动和参数不确定性,将底盘转向模式视为可选子系统,构建各转向模式状态互联的统一切换模型;步骤S3:基于多轴线控底盘的状态误差构造内部耦合滑膜面并设计修正趋近律,建立改进型无抖振内部耦合滑膜控制器ICSMC,优化各子系统的连续控制输入;步骤S4:建立描述系统能量衰减律的监督准则,构造用于辨别不匹配子控制器的评估规则,以实现各子系统的自主切换并优化选取控制器参数,保证系统的全局稳定性和H∞性能;本发明有利于提高多轴线控底盘的灵活性和跟踪控制性能。


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    Title :

    Adaptive steering mode switching control method for multi-axis controlled chassis


    Additional title:

    一种用于多轴线控底盘的自适应转向模式切换控制方法


    Contributors:
    ZHANG XIAOLONG (author) / LIU YANGYANG (author) / PENG LIANGHUI (author) / GU DACHENG (author) / DU HENG (author) / ZHANG ZHIZHONG (author) / WAN JIAWEI (author) / YE QIBIN (author)

    Publication date :

    2024-10-15


    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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