Co-simulation method and system for multi-wheel independently driven slip steer vehicle

A co-simulation and independent drive technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as research on steering characteristics of slip-steer vehicles that cannot be independently driven by multiple wheels, and achieve the goal of improving accuracy and reliability Effect

Active Publication Date: 2021-05-28
BAIC GRP ORV CO LTD
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  • Application Information

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Problems solved by technology

[0004] In view of this, the present application provides a co-simulation method and system for multi-wheel independent drive slip steer vehicles, which is used to solve the technical problem that the steering characteristics of multi wheel independent drive slip steer vehicles cannot be accurately studied

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  • Co-simulation method and system for multi-wheel independently driven slip steer vehicle

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Embodiment Construction

[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below in conjunction with the drawings of the embodiments of the present application. Apparently, the described embodiments are some of the embodiments of the present application, but not all of them. All other embodiments obtained by persons of ordinary skill in the art based on the described embodiments of the present application belong to the protection scope of the present application.

[0045] refer to figure 1 , figure 1 It is a schematic flow chart of a co-simulation method for a multi-wheel independently driven slip steer vehicle according to Embodiment 1 of the present application, and the method includes:

[0046]Step S101: Create a vehicle multi-rigid body dynamic model in the first software, determine the input information and ou...

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Abstract

The present invention provides a joint simulation method and system for a multi-wheel independently driven slip steer vehicle, the method includes: creating a vehicle multi-rigid body dynamic model of a vehicle in the first software, and determining the vehicle multi-rigid body dynamic model input information and output information, and export the vehicle model sub-module, the vehicle model sub-module includes the vehicle multi-rigid body dynamics model, input information and output information; the driver model is created in the second software, and the driver model is used according to Input expected data and feedback data, and output driving data; create a vehicle controller in the second software, which is used to receive driving data and generate torque information; create a steering simulation model in the second software, and convert the vehicle model sub-module , the driver model and the vehicle controller are imported into the steering simulation model; the working conditions are designed in the steering simulation model, the working conditions are simulated and analyzed, and the simulation results are obtained. In this way, closed-loop simulation analysis of different working conditions can be carried out, and the accuracy can be improved.

Description

technical field [0001] The present application relates to the technical field of slip steer, in particular to a joint simulation method and system for a multi-wheel independently driven slip steer vehicle. Background technique [0002] Due to its good safety and high mobility, multi-wheel independent drive vehicles can travel on various complex road conditions and even extreme environments, and are currently a hot spot in the field of military vehicle research. In addition, compared with wheeled vehicles with traditional steering mechanisms, vehicles with slip steer have no mechanical steering system, so they are not only light in weight and save layout space, but also have a smaller turning radius and higher maneuverability. [0003] At present, there are few researches on multi-axle wheel slip steer vehicles in China, but with the deepening of research on distributed drive vehicles in recent years, slip steer vehicles have gradually been paid attention to. In the developm...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 江燕华徐达骆振兴
Owner BAIC GRP ORV CO LTD
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