A dynamic simulation and control method for a main pin steering angle module system

By constructing a highly nonlinear and precise system-level dynamic mathematical model, the problem of insufficient accuracy in corner module system modeling is solved, achieving efficient simulation and control effects and providing a reliable dynamic simulation platform.

CN122362799APending Publication Date: 2026-07-10BEIHANG UNIV
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Patent Information

Application Number
CN202610313623.7
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-03-16
Publication Date
2026-07-10

AI Technical Summary

Technical Problem

Existing corner module system modeling methods ignore nonlinear factors, resulting in insufficient model accuracy, low simulation efficiency, and an inability to effectively improve the effectiveness of system control algorithms.

Method used

A highly nonlinear and precise system-level dynamic mathematical model is constructed. By meticulously incorporating key nonlinear factors such as electromagnetic saturation, transmission efficiency fluctuations, frictional hysteresis, and hydraulic leakage into each sub-model, an analytical model of motor voltage and electromagnetic torque is established using a discrete-time switching model and a Lund-Grenoble friction model. This model accurately characterizes the transmission process of the steering system and comprehensively considers the nonlinear changes of the hydraulic suspension system.

Benefits of technology

It achieves high-precision simulation and control of diagonal module systems, improves simulation efficiency, provides a reliable dynamic simulation platform, and enhances control accuracy and response speed.

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Abstract

This invention relates to a dynamic simulation and control method for a kingpin steering angle module system, belonging to the field of vehicle angle module modeling technology. It solves the problem of insufficient model accuracy caused by the lack of consideration for the nonlinear factors of the angle module's operation in existing technologies. The method includes: S1: Modeling an external rotor hub electric drive system with an integrated inverter; S2: Modeling an electromechanical braking system; S3: Modeling a kingpin steering system; S4: Modeling a hydraulic active suspension system; S5: Constructing a dynamic mathematical model of the coupled angle modules for each subsystem; S6: Constructing a feedforward-feedback composite hierarchical control architecture based on the dynamic mathematical model of the angle modules to perform active control on the kingpin steering angle module system.
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Citation Information

Patent Citations

  • Simulation control method and device for vehicle steering system

    CN117331324A