Active attitude and all-wheel steering cooperative control method based on coaxial wheel leg structure

Abstract

The invention relates to an active attitude control method of an all-terrain mounting platform based on a coaxial wheel leg structure, which relates to the automatic control field of vehicles. When the vehicle enters the bend, a gyroscope collects the current motion state of the vehicle and transmits the parameters to the control unit. When the lateral acceleration is greater than the threshold value, the vehicle active attitude and all-wheel steering synergistic system starts to work, and the lateral adhesion of tire is reduced by the transfer of vehicle mass center. When the control unit judges that the active attitude adjustment intervention is needed, the best centroid position controller is called to calculate the best centroid position at the moment, the arm lifting motor is controlled to adjust the centroid position, and then the corresponding steering angle is obtained through the vehicle dynamics model to control the wheel steering. At a new moment, that gyroscope returns thevehicle state to the control unit again, and the lateral acceleration of the vehicle is judged by the threshold value, so that the vehicle reciprocates until it is steadily driven out of the bend. Themethod adjusts the position of the center of mass by using the active attitude, and has better control to the vehicle.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to an active attitude control method based on a coaxial wheel-leg structure all-terrain carrying platform. Background technique [0002] With the continuous improvement of my country's industrial level, technological level and people's living standards, multi-functional intelligent mobile platforms, especially all-terrain mobile carrying platforms, are gradually used in many industries. In order to adapt to complex non-paved roads (Gobi, mountains, dry riverbeds, etc.) The ability to drive in complex terrain and complex geological environment, work in harsh weather, and low environmental footprint can make up for the technical shortcomings of the existing equipment carrying platform. It is very important to adopt advanced technical means to improve the relevant performance of the carrying platform. [0003] The lateral stability and safety of the vehicle are an important set of pe...

AI Technical Summary

Problems solved by technology

For complex terrain conditions, including the situation of large slip rate and uneven friction distribution, the research on the estimation method of tire model related parameters is not in-depth

Images