A distributed mine card stability coordination control method based on dynamic envelope boundary

Abstract

The present application relates to the field of vehicle dynamics control, especially to a kind of distributed mine truck stability coordination control method based on dynamic envelope boundary. Including: establishing dynamics model to generate mass center side slip angle-yaw rate phase plane, combined with equivalent front and rear axle limit side slip angle to construct dynamic stability envelope boundary, actual state point is mapped to phase plane and is determined to be located inside or outside boundary according to intersection position, if inside, then adopt model predictive control to solve target additional yaw moment, if outside, then calculate the shortest distance and rate of change of state point to boundary and solve the moment through improved particle swarm self-tuning PID controller, finally, through quadratic programming, longitudinal tire force of each wheel is optimized and distributed and torque is output.The present application can quantify the stability boundary and deviation degree of double rear axle mine truck, and effectively balance the steering flexibility and limit stability.

Images