Gait control method and device for distributed drive vehicle and medium

By analyzing the driver's required torque and steering angle in a distributed drive articulated loader, and using zero yaw torque for initial torque distribution and correction, the problem of torque inconsistency caused by motor failure is solved, the hydraulic steering system is protected, and the operating efficiency and reliability are improved.

CN122232431APending Publication Date: 2026-06-19WEICHAI POWER CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
WEICHAI POWER CO LTD
Filing Date
2026-03-06
Publication Date
2026-06-19

AI Technical Summary

Technical Problem

In the prior art, when a motor failure causes inconsistent torque between coaxial wheels, the distributed drive articulated loader fails to effectively consider the impact of drive torque distribution on the hydraulic steering system, resulting in steering not meeting expectations and system damage.

Method used

By analyzing the driver's required torque and the vehicle's steering angle, the initial torque distribution is performed with the goal of zero yaw torque, and corrections are made when the drive motor is under torque limitations, ensuring that the driver's required torque is met within the limits of the hydraulic steering system.

Benefits of technology

It effectively solved the problem of inconsistent torque caused by drive motor failure, protected the hydraulic steering system, and improved operating efficiency and system reliability.

✦ Generated by Eureka AI based on patent content.

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Abstract

This invention provides a limp-drive control method, apparatus, and medium for a distributed drive vehicle. The distributed drive vehicle has a hydraulic steering system and multiple drive motors. The limp-drive control method for the distributed drive vehicle includes analyzing the driver's required torque. When the drive motors are in a torque-limited state, the vehicle's steering angle is analyzed. An initial torque distribution is performed among the multiple drive motors with the goal of achieving zero yaw torque generated by the vehicle. When the initial torque is less than the driver's required torque, the initial torque is corrected. In the event of drive motor failure, this method can meet the driver's required torque within the limits required by the hydraulic steering system.
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