Method and system for layered control of vehicle mode decoupling, and media

Abstract

The invention discloses a method and system for layered control of vehicle mode decoupling, and media. The method comprises the following implementation steps of acquiring construction data and driving data of a vehicle, establishing a vehicle seven-degree-of-freedom vibration reference model and converting the vehicle model by using a model conversion matrix TF to obtain a new seven-degree-of-freedom mode decoupling equation used for expressing the vehicle model as a decoupled mode coordinate equation, obtaining desired model control force according to a control target through an upper controller based on the new seven-degree-of-freedom mode decoupling equation, and tracking the obtained desired model control force through a lower controller in combination with a specific suspension actuator system model. The method can decouple several modes of the vehicle from one another, can effectively improve the overall control quality, is beneficial to reducing the complexity of a control system, can be used for researching vehicle motion, analyzing complex vehicle models, and solving the problems of multi-interference, non-linearity, hysteresis, uncertainty and strong coupling during vehicle motion.

Description

technical field [0001] The invention relates to vehicle control technology, in particular to a layered control method, system and medium for vehicle mode decoupling, which are used to realize the layered control of vehicle mode decoupling. Background technique [0002] There are 7 coupled motion modes during the driving process of the vehicle, namely, the vertical, pitch and roll modes dominated by the body, and the vertical, pitch, roll and twist modes dominated by the wheel set. When the vehicle is running, the vibration modes Inter-coupling, that is, the coupling vibration generated by the suspension mass and the non-suspension mass of the vehicle, which not only reduces the ride comfort of the vehicle, but also reduces the comfort of the driver and passengers. The suspension system connects the wheels and the body, and the control of the suspension can directly change the motion mode of the vehicle. However, the traditional suspension control method often controls a cert...

AI Technical Summary

Problems solved by technology

The invention solves the problem that the traditional control method cannot guarantee the performance of other modes while controlling a certain mode. The application of the vehicle mode decoupling layered control method is useful for studying vehicle motion, analyzing complex vehicle models, It is of far-reaching significance to solve the problems of multiple disturbances, nonlinearity, hysteresis, uncertainty and strong coupling when the vehicle is in motion

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