Torque vectoring control soft soil mechanical anti-trapping posture adjustment system and method

The torque vector control-based anti-sinking and attitude adjustment system for soft soil machinery solves the problems of wheels getting stuck in mud and attitude instability in paddy fields, improving the stability and efficiency of the machine and adapting to the needs of unmanned operation.

CN122443243APending Publication Date: 2026-07-24YANGZHOU DINGENTROPY INTELLIGENT TECHNOLOGY CO LTD +2
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
YANGZHOU DINGENTROPY INTELLIGENT TECHNOLOGY CO LTD
Filing Date
2026-06-24
Publication Date
2026-07-24

AI Technical Summary

Technical Problem

Existing machinery used for working in soft soil is prone to getting stuck in the mud in paddy fields with high water content and loose, muddy conditions. This causes the machine to roll or pitch, making it unable to maintain a horizontal posture. Furthermore, traditional control methods cannot effectively solve the coupling problem between wheels getting stuck in the mud and posture instability, making it difficult to meet the needs of unmanned operation and intelligent extrication.

Method used

The soft soil mechanical anti-sinking attitude adjustment system, which adopts torque vector control, uses data from four independent drive groups, wheel speed sensors, attitude sensors, and torque sensors, combined with PID control algorithms, to achieve independent control of the torque of each wheel, dynamically adjust the tire attitude to prevent the wheels from sinking into the mud and keep the machine body level.

Benefits of technology

It significantly improves operational stability and efficiency, reduces the risk of skidding and rollover, enhances unmanned operation capabilities, reduces hardware wear and energy waste, and achieves high robustness and energy utilization efficiency in harsh soft soil environments.

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Abstract

The application discloses a kind of soft soil machinery anti-trap posture adjustment systems and methods of torque vector control, and it relates to agricultural machinery technical field.The system includes rack, four-wheel independent drive group and control system, and with control system connection's wheel speed sensor group, attitude sensor and torque sensor group.The method is through each sensor acquisition data identification mud-trap risk, and calculates slip rate to confirm mud-trap state;While calculating roll and pitch attitude deviation, and generating compensation torque by PID control algorithm;Control system is according to total drive torque, mud-trap sign and compensation torque to each wheel dynamic torque vector distribution, and the integrated command is output to each wheel motor to carry out feedback control.The application can effectively prevent wheel mud-trap and keep body level, greatly improve the operation stability and efficiency under soft soil environment.
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Citation Information

Patent Citations

  • A four-wheel independent drive wheel frame adjustable vehicle integrated drive system

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  • Device and Method for Improving Steering Performance of Vehicles with Adjustable Four-Wheel Independent Drive Chassis

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  • A torque control method for electric four-wheel drive vehicle based on slip ratio

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