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Control method for four-wheel independent steering vehicle

A four-wheel independent steering and control method technology, which is applied to automatic steering control components, steering mechanisms, steering rods, etc., can solve the problem of vehicle stability reduction

Active Publication Date: 2016-12-14
徐州星浩新能源科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a four-wheel independent steering vehicle control method, which overcomes the defects of the prior art that the vehicle stability decreases and affects driving safety when the vehicle front wheel angle sensor fails, and has the characteristics of good control effect and high stability

Method used

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  • Control method for four-wheel independent steering vehicle
  • Control method for four-wheel independent steering vehicle
  • Control method for four-wheel independent steering vehicle

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Embodiment 1

[0109] like figure 1 As shown, the control method of the four-wheel independent steering vehicle provided in this embodiment includes the following steps:

[0110] A. Preset the ideal vehicle steering model, the initial value of the front wheel angle estimation, the front wheel angle observer, the interference boundary estimation link, the rear wheel angle sliding mode controller and the yaw moment sliding mode controller;

[0111] The construction process of the ideal vehicle steering model is as follows:

[0112] The vehicle steering kinematics model is established as follows:

[0113] m ( v · x - v y γ ...

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Abstract

The invention provides a control method for a four-wheel independent steering vehicle. The method comprises the steps that (A) an ideal vehicle steering model, a front wheel steering angle observer, an interference boundary estimation link, a rear wheel steering angle slide-mode controller and a yawing moment slide-mode controller are preset; (B) a mass center deflection angle and a yawing angular speed of the vehicle are measured in real time, and a front wheel steering angle estimated value at a corresponding moment is obtained through computation; (C) the front wheel steering angle estimated value is computed in real time, the real-time mass center deflection angle and the real-time yawing angular speed are computed, and a real-time control error between the mass center deflection angle and the yawing angular speed can be obtained through computation; (D) a real-time interference boundary parameter is obtained through computation in the interference boundary estimation link; and (E) in combination with the real-time front wheel steering angle estimated value, the real-time interference boundary parameter and the control error, a real-time rear wheel steering angle and yawing moment are obtained through computation, and the vehicle is controlled. The method has the advantages that the defect that vehicle stability is reduced due to sensor failures can be overcome; control effects are good; and the stability is high.

Description

technical field [0001] The invention relates to the field of vehicle steering control, in particular to a control method for a four-wheel independently steering vehicle. Background technique [0002] The handling stability of the vehicle is an important performance related to the safe driving of the vehicle. Four-wheel steering (4WS) technology is an important component of the active chassis control system, and it is the development trend of modern vehicles to improve handling stability and active safety. The control strategy is an important research aspect of 4WS technology. By adjusting the rear wheel angle to control the side slip angle and yaw rate of the vehicle center of mass, it can effectively improve the handling stability of the vehicle at high speed and the maneuverability at low speed. So far, for the 4WS control problem of active rear wheel steering, methods such as feedforward control, yaw rate feedback control, and neural network control have been proposed. ...

Claims

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Application Information

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IPC IPC(8): B62D6/00B62D133/00B62D137/00B62D113/00B62D111/00
CPCB62D6/001B62D6/005
Inventor 高远赵宁王振刚文家燕潘盛辉袁海英
Owner 徐州星浩新能源科技有限公司
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