The invention provides a multi-shaft driving steering control method and system for an intelligent transport vehicle, and the method comprises the steps: S1, calculating the steering characteristics of a second shaft and a third shaft according to a two-degree-of-freedom kinematics model, so as to adjust the target rotation angles of all wheels on the second shaft and the third shaft; s2, the vehicle course angle and the target wheel rotation angle serve as input quantities, the motor operation parameters on the corresponding shafts serve as disturbance quantities, the actual wheel rotation angles serve as feedback quantities, and the actual wheel rotation angles on the second shaft and the third shaft are obtained through control; and S3, the steering relation between the first shaft and the second shaft and the steering relation between the third shaft and the fourth shaft are obtained based on the Ackerman angle theorem, and steering of wheels on the first shaft and the fourth shaft is controlled according to the steering relation. According to the method, the steering relation between the second shaft and the third shaft with the driving capacity and the actual wheel rotation angle are calculated through the kinematic model, then the wheel rotation angles of the first shaft and the fourth shaft are controlled in a follow-up mode according to the Ackerman rotation angle relation, the wheel steering control precision is high, and wheel track optimization is facilitated.
本发明提供一种智能运输车的多轴驱动转向控制方法及控制系统,方法包括:S1,根据二自由度运动学模型计算第二轴和第三轴的转向特性,以调整第二轴以及第三轴上各车轮目标转角;S2,将车辆航向角以及车轮目标转角作为输入量,对应轴上电机运转参数作为扰动量,车轮实际转角作为反馈量,控制得到第二轴和第三轴上各车轮实际转角;S3,基于阿克曼转角定理得到第一轴和第二轴的转向关系以及第三轴和第四轴的转向关系,根据转向关系控制第一轴以及第四轴上的车轮转向。本发明先通过运动学模型计算出带驱动能力第二轴和第三轴转向关系以及车轮实际转角,然后依据阿克曼转角关系随动控制第一轴和第四轴车轮转角,车轮转向控制精度高,利于车轮轨迹优化。
Multi-shaft drive steering control method and control system of intelligent transport vehicle
一种智能运输车的多轴驱动转向控制方法及控制系统
2025-03-14
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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