Driving anti-skid control method for sliding steering electrically-driven unmanned vehicle

Abstract

The invention provides a driving anti-slip control method for a sliding steering electrically-driven unmanned vehicle. The actual longitudinal vehicle speed of an unmanned platform is obtained according to a longitudinal vehicle speed signal of an inertial navigation and GPS integrated navigation system; calculating the current slip rate of each driving wheel according to the current wheel speed of each driving motor and the current longitudinal vehicle speed of the unmanned platform; according to a set slip rate limit value, slip judgment logic is designed, and whether each driving wheel slips or not is judged; and according to the current slip rate and the optimal slip rate, a slip rate PID control strategy is designed, the driving anti-slip torque control quantity of the driving motor is obtained, and the control torque and the torque control quantity calculated by the longitudinal vehicle speed PID controller serve as a torque input command of the driving motor to conduct driving control on the vehicle. By adopting the driving anti-slip control method, the instantaneous slip of the driving wheel can be quickly, effectively and smoothly inhibited, and the trafficability of the sliding steering wheel type vehicle on low-adhesion-rate road surfaces such as ice, snow and desert is improved.

Description

technical field [0001] The invention designs a driving anti-skid control method, which belongs to the technical field of distributed driving longitudinal control of automatic driving or unmanned vehicles. Background technique [0002] Sliding-steering electric-driven unmanned ground vehicles have attracted much attention in military applications due to their simple mechanical structure, low operation and maintenance costs, zero-radius steering (steering in place), and outstanding off-road capability. Due to the use of sliding steering, tire wear is inevitable. The particularity of its chassis structure makes it easy for individual tires to be in micro-contact with the road surface or completely suspended during the movement of the vehicle. When the driving force of the vehicle suddenly increases or the road adhesion coefficient When it suddenly decreases, the wheel slips, the wheel slip rate increases rapidly, the tire enters the nonlinear region, and the longitudinal drivin...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the design of the distributed drive anti-skid strategy of the electric drive unmanned ground vehicle with sliding steering, fuzzy control methods such as fuzzy control methods have been proposed to improve the steady-state performance and control accuracy of the anti-skid control system, but the stability of the fuzzy control method is difficult to prove, and The design of the membership function and the formulation of fuzzy rules are not universal, and it is difficult to use them directly in the actual unmanned vehicle

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