The invention discloses a driving control method and system of a floatable vehicle and the floatable vehicle, and the driving control method comprises the steps that when the vehicle is in a floating state, according to the target yaw velocity and the actual yaw velocity of the vehicle and the pre-control target wheel speed and the actual wheel speed of each wheel of the vehicle, the pre-control target wheel speed and the actual wheel speed of each wheel of the vehicle are calculated; determining a pre-control torque and a torque correction amount of each wheel of the vehicle by adopting a motion control algorithm; and according to the pre-control torque and the torque correction amount of each wheel of the vehicle, target torque output by a motor corresponding to each wheel of the vehicle is determined so as to control the vehicle to run. On the basis of a double-closed-loop control scheme of a wheel speed closed loop and a yaw velocity closed loop, a complete double-closed-loop control loop composed of the wheel speed and the yaw velocity, feedforward control formed by pre-control torque/wheel speed and controller feedback control is formed, and good control precision and control response characteristics are achieved.
本发明公开了一种可漂浮车辆的驱动控制方法及其系统、可漂浮车辆,该驱动控制方法包括:在所述车辆处于漂浮状态时,根据所述车辆的目标横摆角速度和实际横摆角速度、以及所述车辆各个车轮的预控目标轮速和实际轮速,采用运动控制算法,确定所述车辆各个车轮的预控扭矩和扭矩修正量;根据所述车辆各个车轮的所述预控扭矩和所述扭矩修正量,确定所述车辆各个车轮对应电机输出的目标扭矩,以控制所述车辆行驶。基于轮速闭环、横摆角速度闭环的双闭环控制方案,形成一个完整的由轮速、横摆角速度组成的,由预控扭矩/轮速形成的前馈控制及控制器反馈控制共同组成的双闭环控制回路,具有较好的控制精度与控制响应特性。
Driving control method and system of floatable vehicle and floatable vehicle
可漂浮车辆的驱动控制方法及其系统、可漂浮车辆
2025-02-14
Patent
Electronic Resource
Chinese