The invention discloses a differential chassis driving control system and method. Relates to the field of vehicle control and solves the problem of low flexibility of differential steering control by using a non-linear sensor. The steering control rod is operated by a user to control rotation, a driver rotates the steering control rod to drive the wheels to steer, the resistance value of the linear potentiometer type sensor changes along with rotation of the steering control rod, the steering angle of the front wheels is further determined, and a differential control instruction of the corresponding rear wheels is generated; the gyroscope detects the posture of the hub motor, and after differential steering of the rear wheel, steering angle correction data are generated according to monitoring data of the gyroscope for steering correction. The driving controller achieves active differential steering through monitoring information of the linear potentiometer type sensor, after steering, the driving controller conducts passive auxiliary steering through monitoring data fed back by the gyroscope, closed-loop feedback control is achieved, torque needed by steering control of an operator can be reduced at any position, and safety in the driving process is improved.
本申请公开了一种差速底盘驱动控制系统及控制方法;涉及车辆控制领域,解决使用非线性传感器进行差速转向控制灵活性低的问题。本申请转向控制杆受用户操作控制转动,驾驶者转动转向控制杆带动车轮转向,线性电位器式传感器器的阻值随转向控制杆的转动变化进一步地确定前轮转向角度,生成对应的后轮的差速控制指令;陀螺仪检测轮毂电机的姿态,在后轮差速转向后,根据陀螺仪的监测数据生成转向角度修正数据进行转向修正。驱动控制器通过线性电位器式传感器的监测信息实现主动差速转向,在转向后驱动控制器通过陀螺仪反馈的监测数据进行被动辅助转向,实现闭环反馈控制,在任一位置均能降低操作者转向控制所需的扭矩,提升驾驶过程中的安全性。
Differential chassis driving control system and control method
一种差速底盘驱动控制系统及控制方法
2024-11-22
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Chassis vehicle, chassis vehicle control system and chassis vehicle control method
European Patent Office | 2021
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