The invention discloses a fully differential steering control method for an eight-wheel unmanned vehicle without a steering structure, and belongs to the technical field of distributed driving electric vehicle control. A distributed hierarchical control system is adopted for hierarchical control, a vehicle control parameter making layer calculates the total driving torque, and a vehicle dynamics model is called to calculate a yaw velocity expected value; the compensation yaw moment formulating layer is used for performing fuzzy control on the deviation between the yaw velocity and the side slip angle of the vehicle and outputting compensation yaw moment; the driving torque distribution layer initially distributes the total driving torque according to different working conditions; according to the initial distribution driving torque, the compensation yawing torque and the differential steering torque generated by the steering action, the compensated secondary distribution driving torque of each hub motor is output; and the torque real-time optimization layer adjusts and compensates the weight coefficients of the yawing torque and the differential steering torque in real time, and optimizes and distributes the final output torque of each hub motor. According to the invention, the vehicle driving control real-time performance and the steering stability are improved.

    本发明公开了一种用于八轮无转向结构无人车辆全差动转向的控制方法,属于分布式驱动电动汽车控制技术领域。采用分布式分层控制系统进行分层控制,车辆控制参数制定层计算总驱动力矩,并调用车辆动力学模型计算横摆角速度期望值;补偿横摆力矩制定层对车辆的横摆角速度与质心侧偏角的偏差采用模糊控制,输出补偿横摆力矩;驱动力矩分配层根据不同工况,将总驱动力矩初始分配;再根据初始分配驱动力矩、补偿横摆力矩和因转向动作产生的差动转向力矩,输出各轮毂电机补偿之后的二次分配驱动力矩;力矩实时优化层实时调整补偿横摆力矩与差动转向力矩的权重系数,优化分配各轮毂电机的最终输出力矩。本发明提高了车辆驱动控制实时性和转向稳定性。


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    Title :

    Fully differential steering control method for eight-wheel unmanned vehicle without steering structure


    Additional title:

    一种用于八轮无转向结构无人车辆全差动转向的控制方法


    Contributors:
    ZHU SHAOPENG (author) / LU JUNFEI (author) / GAO JIAN (author) / CHEN HUIPENG (author) / LI HAOJUN (author)

    Publication date :

    2024-10-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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