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Multi-axle steering control method for improving vehicle handling stability

A technology of handling stability and multi-axis steering, which is applied to the steering mechanism, automatic steering control components, steering mechanism and other directions of front and rear tandem vehicles to achieve the effect of ensuring track following ability, wide range of working conditions, and simple algorithm.

Inactive Publication Date: 2018-04-27
CSR ZHUZHOU ELECTRIC LOCOMOTIVE RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this four-wheel steering characteristic only gives a qualitative control law. A quantitative control law for the steering angle of the wheels is studied to improve the vehicle's high-speed handling stability and ensure the track following ability at low speeds. has very important practical significance

Method used

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  • Multi-axle steering control method for improving vehicle handling stability
  • Multi-axle steering control method for improving vehicle handling stability
  • Multi-axle steering control method for improving vehicle handling stability

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with the accompanying drawings and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.

[0027] Such as image 3 As shown, the multi-axis steering control method for improving vehicle handling stability in this embodiment, the specific steps are: obtaining the vehicle front wheel steering angle δ f and the vehicle yaw rate r, through the vehicle front wheel steering angle δ f Calculate the rear wheel steering angle δ after the proportional value of the vehicle yaw rate r r , to control the steering of the rear wheels, the formula for calculating the steering angle of the rear wheels is shown in formula (1):

[0028] δ r =k δ δ f +k r r (1)

[0029] In formula (1), δ r is the rear wheel steering angle, δ f is the front wheel steering angle, r is the vehicle yaw rate, k δ is the proportional coefficient of the front wheel steering angle, k ...

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PUM

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Abstract

The invention discloses a multi-axle steering control method for improving vehicle handling stability. The multi-axle steering control method comprises the steps that the first carriage front wheel steering angle delta f and the vehicle transverse swaying angular speed r are obtained; and through the direct ratio values of the vehicle front wheel steering angle delta f and the vehicle transverse swaying angular speed r, the rear wheel steering angle delta r is calculated, and steering of rear wheels is controlled. The multi-axle steering control method has the advantages that the multi-axle steering characteristic is achieved, the first-section vehicle mass center side slip angle is kept to be zero, the stability of a vehicle can be effectively improved, the lateral response speed of the vehicle can be effectively increased, and the track following ability under the low-speed situation can be ensured.

Description

technical field [0001] The invention relates to the technical field of vehicle control, in particular to a multi-axis steering control method for improving vehicle handling stability. Background technique [0002] Multi-axle steering rubber-tyred train is a new type of urban public passenger transport vehicle, which is characterized by trackless rubber tires, sharing the right of way with traditional cars, no longer running along fixed tracks, and following ground marking lines (virtual tracks). It not only has the advantages of flexible bus running, low construction and maintenance costs, but also has the advantages of large transportation capacity, and overcomes the high cost of infrastructure construction and vehicle purchase such as subways, light rails, and trams, which require special power systems and Disadvantages of track fit design. The vehicle rubber-tyred train in the present invention is an articulated vehicle developed by CRRC Zhuzhou with three-section marsha...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D12/02B62D6/00B62D137/00
CPCB62D6/00B62D12/02
Inventor 许峻峰肖磊李晓光袁希文蒋小晴彭京刘小聪张陈林朱田
Owner CSR ZHUZHOU ELECTRIC LOCOMOTIVE RES INST
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