Steering and driving control method of electric flatbed truck

Abstract

The invention discloses a steering and driving control method of an electric flatbed truck. The control method is suitable for the electric flatbed truck with a six-wheel steering system; according to the control method disclosed by the invention, under the premise of an extended-range type multi-wheel-hub motor-driving power system, a layer-type control framework adopting an upper layer electronic differential torque layer, an additional steering torque calculating layer, and a lower layer torque distributing layer is adopted, so that the steering and driving control of the electric flatbed truck is realized through the electronic differential torque control and the additional steering power-assisted torque distribution control. The control method comprises the following steps that control is exerted on the electric flatbed truck through changing the torque of a wheel hub motor, and during steering, the electric flatbed truck with the six-wheel steering system adopts a front-and-rear wheel out-of-phase steering manner. Through the adoption of the steering and driving control method disclosed by the invention, the problem of the steering of the extended-range type multi-wheel-hub motor-driving electric flatbed truck is solved, and a solution is provided for realizing flexible and mobile steering of the six-wheel steering system; and the control stability when the electric flatbed truck travels or turns, or being under the effect of sideway wind force, and the operating portability of the electric flatbed truck at a low speed can be improved by the six-wheel steering system.

Description

technical field

[0001] The invention belongs to the technical field of vehicle driving control methods, and in particular relates to a steering driving control method suitable for electric flatbed transport vehicles. Background technique

[0002] Electric vehicles and hybrid vehicles have achieved great development in recent years, and are also used in special vehicles such as flatbed transport vehicles. During the driving and transportation process of the electric flatbed transport vehicle, in order to adapt to the road conditions and driving conditions, it is often necessary to change or correct the driving direction, especially when the vehicle is in a small transfer site during the load work process, in order to meet the application requirements, it is necessary to ensure The vehicle can turn flexibly and maneuverably. For the traditional flatbed truck in the prior art, the whole vehicle adopts technologies such as hydraulic drive, hydraulic suspension, independent stee...

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