155 results about "Active steering" patented technology

The invention belongs to the field of active steering of electric vehicles, and relates to an active four-wheel steering path tracking control method based on Nash game, which comprises the following steps: S1, establishing a two-degree-of-freedom transverse dynamic model of a vehicle; s2, designing a tire cornering stiffness correction coefficient by adopting a magic formula to correct the cornering stiffness in the prediction model in real time; s3, the Nash game is introduced into four-wheel steering control, the control target of front wheel steering is tracking precision, and the control target of rear wheel steering is transverse stability; and solving the optimal control quantity of each gamer through a distributed model prediction architecture.

The invention provides an anti-rollover control method and system for an electric automobile, and relates to the field of automobile body posture control. The control method comprises the following steps: collecting vehicle driving data; calculating a transverse load transfer rate based on the vehicle driving data, and calculating a comprehensive risk index in combination with the transverse load transfer rate and a sprung mass roll angle; the method comprises the following steps: presetting a comprehensive risk index early warning threshold value and a comprehensive risk index danger threshold value, judging the rollover working condition and the comprehensive risk index of the automobile, and executing a corresponding rollover prevention control strategy: when the rigidity of the suspension is changed, the comprehensive risk index still increases and exceeds the comprehensive risk index danger threshold value; the anti-rollover moment is changed by changing the control force of the suspensions on the two sides. After the suspension control force suppresses roll for a certain period of time, the comprehensive risk index is still not reduced to be below the early warning threshold value, the active steering system intervenes in combined control, the active steering system has two steering modes including front wheel steering and four-wheel steering, and different steering modes are used under different working conditions.

The invention discloses an integrated front-end driving, active steering and visual digestive tract catheterization system, which belongs to the field of medical apparatus and instruments, and comprises a guide arm comprising a pull wire and an elastic arm, the guide arm is provided with a first end and a second end deviating from each other, and one end of the pull wire is fixedly connected to the first end; the lens is arranged at the first end; the driving part comprises a first annular balloon, a second annular balloon and a cylindrical balloon, and the first annular balloon and the second annular balloon are fixedly connected to the two sides of the cylindrical balloon in the axial direction respectively; when the annular balloon is full, the outer wall expands in the radial direction; when the cylindrical balloon is full, the outer wall extends in the axial direction; the fixing sleeve comprises a flexible sleeve and a connecting base which are fixedly connected, the connecting base is connected with the second end of the guide arm and the first annular balloon, and the end, deviating from the connecting base, of the flexible sleeve penetrates through the driving part and extends in the direction deviating from the guide arm. Through the arrangement, the front end of the nasointestinal tube can be guided and driven at the epiglottis of the nasal cavity and the upper and lower digestive tracts.

The present invention discloses a four-wheel steering control method for a distributed drive electric vehicle, which relates to the technical field of vehicle control. The front wheel steering angle δ is output by a driver model f , the throttle pedal opening α p , and the throttle pedal opening change rate Δα p . The ideal center-of-mass side slip angle β d and the ideal yaw angular velocity γ d are obtained through the two-degree-of-freedom dynamics equation of the front-wheel-steering vehicle. Then, based on the characteristics of the distributed drive torque vector control method and the rear-wheel active steering control method, and in combination with the actual center-of-mass side slip angle β and the actual yaw angular velocity γ of the vehicle, the vehicle target motion state tracking under different working conditions is carried out, and the additional yaw moment ΔM z and / or the rear wheel steering angle δ r are obtained. Finally, the coordinated control of the vehicle is realized through the four-wheel steering distributed drive vehicle model. While considering the control effect, the present invention takes into account the driving habits and driving needs of the driver to the greatest extent, not only improving the overall performance of the vehicle control system, but also ensuring the sensitivity, maneuverability and stability of the vehicle.

The invention discloses an active steering and braking integrated control system based on roll angle feedback, and belongs to the technical field of vehicle dynamics control. In order to solve the problems of slow control response and multi-actuator action conflict of the vehicle under the limit working condition, the method quantifies the comprehensive instability risk of the whole vehicle by constructing a dynamic virtual potential field. The potential field is based on key state variables such as a roll angle and a side slip angle, and the topological structure (namely the weight of each variable) of the potential field is remodeled in real time by a dynamic risk factor reflecting the intention urgency degree of a driver and the environmental danger level. The system evaluates the instantaneous control efficiency by calculating the contribution degree of each actuator to the reduction of the potential field gradient in a distributed manner. According to the method, the complex control problem is converted into the process of finding the minimum potential energy point, prospective suppression of the instability trend and conflict-free efficient cooperation between the actuators are achieved, and the limit stability and safety of the vehicle are remarkably improved.

The invention discloses a layered vehicle stability brake control system and a brake control method. A layered vehicle stability braking control system is applied to a vehicle provided with a brake-by-wire system and a steering-by-wire system and comprises a chassis dynamics analysis module and a yawing moment instruction distribution module. The invention discloses a layered vehicle stability braking control method. The braking control step sequentially comprises the steps of determining the corrected yaw moment of a target vehicle, evaluating the availability and the permissibility of active steering control, determining a wheel steering control angle based on the availability and the permissibility of the active steering control, determining the steering corrected yaw moment based on the wheel steering control angle, and conducting braking control. Determining a residual corrected yaw moment based on the target vehicle corrected yaw moment and the steering corrected yaw moment, and determining a brake control instruction based on the residual corrected yaw moment; according to the method, the optimal distribution of the target correction yaw moment can be realized through the synergistic effect of active steering and brake-by-wire.

The invention discloses a vehicle chassis multi-agent coordination control method and system based on event driving, and relates to the technical field of vehicle chassis control. The method comprises the steps that an active steering agent model, an additional yawing moment agent model and a torque distribution agent model are constructed based on all actuators of a chassis, and a vehicle system kinetic equation is constructed according to the active steering agent model, the additional yawing moment agent model and the torque distribution agent model; according to a built vehicle system kinetic equation, the maximum linear point of yaw velocity increase changing along with the steering angle is mapped to a phase plane. The maneuverability, stability and energy efficiency optimization requirements of vehicle driving are comprehensively considered, the comprehensive performance of the vehicle under different road environments and driving tasks can be improved, meanwhile, an event-driven coordination control framework is established based on the real-time stability state of the vehicle, cooperative interaction between execution units of a chassis is achieved, and the driving performance of the vehicle is improved. Coupling conflicts can be effectively avoided, and the execution efficiency and safety of a chassis system are improved.

Example embodiments of systems, devices, and methods are provided for charging and discharging energy systems having multiple modules arranged in cascaded fashion for generating and storing power. Each module can include an energy source and switch circuitry that selectively couples the energy source to other modules in the system for generating power or for receiving and storing power from a charge source. The energy systems can be arranged in single phase or multiphase topologies with multiple serial or interconnected arrays. The embodiments are capable of being charged with multiphase AC charge signals, a single phase AC charge signal, and / or a DC charge signal. Embodiments implementing the modular energy system within a charge source for performing multiphase, single phase AC, or DC charging of electric vehicles are also disclosed. Also disclosed are multi-motor embodiments and embodiments with the capability to power active suspensions and active steering systems.

The present application relates to the technical field of multi-axle vehicle chassis control, in particular to a kind of multi-axle distributed drive vehicle steering system fault tolerant control method: based on fault identification and proportional controller real-time calculation each axle angle proportion relationship, and through wheel angle sensor real-time acquisition wheel angle signal, and according to target angle, the active steering torque of steering motor is calculated by PID controller, so that the angle of each wheel reaches target value. Ensure that multi-axle distributed steering vehicle still has the ability of autonomous movement when steering failure occurs, using the technical solution can improve the mobility of multi-axle steering vehicle when several different wheel steering failures occur, and provide additional protection for the vehicle to still have autonomous movement to repair under the condition of no external rescue.

The invention provides a vehicle control method and system and a vehicle, and the method comprises the steps that driving information of the vehicle is obtained, and the driving information comprises load information, braking information and speed information; according to the load and the braking state of each wheel, the total braking force is distributed to each wheel, and the target braking force of each wheel is obtained; determining a left-right side braking force difference of the vehicle according to the target braking force of each wheel, and determining a front wheel turning angle of the vehicle according to the left-right side braking force difference and the speed information; and according to the target braking force of each wheel and the front wheel rotation angle, braking and steering control of the vehicle is carried out. Under the braking failure working condition, the braking force requirement of the failed wheel can be transferred to other normal wheels, the braking efficiency and the braking effect are ensured, the phenomena of deviation and instability of vehicle braking are prevented by combining an active steering compensation mechanism, and the driving safety and stability of the vehicle are improved.

The invention provides a unified electric control method and device for turning and shimmy damping of a front wheel of an airplane, and solves the technical problems of high complexity and poor adaptability. The device comprises a voltage sensor used for collecting a bus voltage value of a DC power supply loop of an inverter; the power switch device is used for controlling the switch-in and switch-out of the energy consumption resistor R1 in the power supply loop; the relay is used for controlling the on-off of a power supply loop between the direct-current power supply and the inverter; and the logic control module is used for responding to a control requirement, outputting a PWM signal according to a preset control strategy of the corresponding control mode and performing power supply loop control. A turning / shimmy damping unified electric control framework based on electric control is formed to be matched with a unified electric control strategy, a hydraulic shimmy damping device is simplified, and meanwhile the weight and cost of an undercarriage are reduced. Through control mode switching, a PWM technology is adopted to drive the front wheel to actively steer in a control state, and shimmy damping is provided in a non-control state.

The present application relates to the technical field of automobile steering control, in particular to a layered architecture multi-target performance control method and system based on a steer-by-wire system, comprising obtaining vehicle-related parameters and tire-related parameters; obtaining a current driving mode of the automobile, obtaining a current target performance coefficient based on the driving mode, obtaining a vehicle performance target and a weight coefficient based on the target performance coefficient; compensating multiple targets based on the vehicle-related parameters, the tire-related parameters, the vehicle performance target and the weight coefficient. The above method of the present application realizes the control output of the front and rear wheels based on a unified control method, meets the vehicle performance requirements of different scenes and functions, and the whole system can meet the control of SBW front-wheel steer-by-wire, RWS rear-wheel active steering and four-wheel steer-by-wire. Only the performance target coefficient, the weight coefficient, the calibration parameter and the constraint parameter need to be set and debugged for different systems, which can greatly shorten the development cycle.

An embodiment of the present disclosure provides a control method, device, storage medium, and electronic device for rear-wheel active steering. The control method includes determining a vehicle steady-state parameter based on an actual value of a front-wheel angle of the vehicle and an actual value of a vehicle speed of the vehicle. The vehicle steady-state parameter includes at least a given value of yaw rate and a given value of sideslip angle of the center of mass. Inputting the vehicle steady-state parameter, the actual value of the front-wheel angle, and the vehicle speed actual value into a specified model to determine a vehicle steering stability parameter. The vehicle steering stability parameter includes at least a target value of the rear-wheel angle, a target value of the compensating yaw moment, and a vehicle side force. Controlling the rear-wheel steering of the vehicle based on the vehicle steering stability parameter. In the process of controlling the rear wheels of the vehicle, the embodiment of the present disclosure adopts a model predictive control method, which not only controls the rear-wheel angle but also increases the control of the yaw moment and controls the braking pressure to ensure the stability of vehicle handling in the case of rear-wheel steering.

The invention relates to a multi-stage sinking construction method for an assembled open caisson, which comprises the following steps: on the basis of conventional open caisson construction, mounting a steel base with active stretching and retracting and active steering functions at the bottom of the open caisson, and mounting a supporting mechanism with an active stretching and retracting function between open caisson pipe joints; the construction method is characterized by comprising the following steps that S1, soil body excavation is conducted, specifically, the soil body at the bottom of the open caisson is excavated to the set depth; the open caisson has three different sinking control modes on the basis that the steel base with the active stretching and retracting function and the active steering function is installed at the bottom of the open caisson and the supporting mechanism with the active stretching and retracting function is installed between the open caisson pipe joints; different control modes can be selected to adapt to different sinking resistances to guarantee normal sinking construction of the open caisson, multi-stage sinking can be achieved through cooperation of the different control modes, and the sinking posture of the open caisson is guaranteed synchronously. The technical problems that according to a traditional assembly type open caisson construction method, sinking is difficult due to large sinking resistance, and the structural posture control capacity is poor are solved.

The invention relates to the field of new energy, in particular to an active steering wind array power generation system which is composed of a windward net rack, a power generation unit, a circuit pipeline, a net rack foundation and a control device. Wherein the windward net rack is a space structure which is formed by connecting corrosion-resistant vertical chord members, horizontal chord members, inclined web members and node balls through bolts, takes a rectangular pyramid as a basic unit, and is vertically arranged and fixed on the net rack foundation; a corrosion-resistant flow guide cover, blades, a hub, a front cover, a machine body and a rear cover are coaxially and sequentially arranged in the horizontal direction of the power generation unit from front to back. The machine body is of a round tube orthogonal four-way structure, an upper cover is arranged on the upper portion of the machine body, a lower cover is arranged on the lower portion of the machine body, and the interior of the machine body is sequentially divided into an acceleration bin, a rotary bin, a driving bin and an electric bin from front to back through a front wall, a middle wall and a rear wall. The control device, the circuit board, the driving motor, the worm, the turbine and the round pipe form an active steering mechanism, and the driving power generation unit can horizontally rotate by 360 degrees with the axis of the vertical chord member as the circle center.

A modal antenna assembly is provided. The modal antenna includes an antenna element comprising a curved conical portion and a top portion, the top portion comprising an undulating annular ring disposed on the curved conical portion. The modal antenna further includes a parasitic element positioned at least partially within a gap defined in the curved conical portion of the antenna element.

The application relates to an indoor intelligent fire extinguishing robot and a chassis control method, which comprise a running system, a power supply system, a fire extinguishing system, a visual control system and a central controller; the running system is used for advancing, retreating and differential steering of the fire extinguishing robot; the power supply system is used for supplying power to the running system, the fire extinguishing system and the visual control system; the fire extinguishing system is used for extinguishing a fire source area; the visual control system is used for judging whether an obstacle can be normally passed when the robot runs, and if the obstacle cannot be normally passed, the local path needs to be re-planned to run to the fire disaster area, and the visual control system is used for identifying a fire source so that a fire extinguisher can be accurately sprayed to the fire source part; and the central controller is used for controlling the running system, the power supply system, the fire extinguishing system and the visual control system. The application has the advantages that rear wheel active steering and front wheel steering as an auxiliary are adopted, the differential steering has a small steering radius, and good steering stability is achieved.

This invention provides a method, device, and vehicle for aligning a vehicle steering wheel, belonging to the field of vehicle technology. It aims to adjust the steering wheel position without disassembling it when the steering wheel is misaligned. Applied to a front-wheel active steering system, the system includes an electric variable transmission motor for adjusting the angular transmission ratio between the steering wheel and the wheel steering mechanism. The method includes: determining the deviation angle between the current position and the preset position when the wheel is in the center position and the current position of the steering wheel deviates from the preset position; determining the triggered adjustment mode when the deviation angle is less than or equal to the preset angle; triggering a preset return-to-center strategy corresponding to the adjustment mode in response to the adjustment mode; controlling the electric variable transmission motor to assist the steering wheel in returning to the preset position based on the preset return-to-center strategy; and controlling the wheel steering mechanism to lock so that the wheel remains in the center position during the steering wheel return-to-center process.

The invention relates to the technical field of multi-axle vehicle chassis control, in particular to a fault-tolerant control method for a steering system of a multi-axle distributed driving vehicle, which comprises the following steps of: calculating a steering angle proportional relation of each axle in real time based on fault identification and a proportional controller, and acquiring a steering angle signal of a wheel in real time through a wheel steering angle sensor; and the active steering torque of the steering motor is calculated through the PID controller according to the target turning angle, so that the turning angle of each wheel reaches the target value. By means of the technical scheme, the maneuverability of the multi-axle distributed steering vehicle can be improved when several kinds of different wheel steering faults occur, and extra guarantee is provided for the vehicle to automatically move to a maintenance position under the condition that no external rescue exists.

The invention discloses a multi-stage electro-hydraulic steering system with an energy recovery function and an anti-rollover control method of the multi-stage electro-hydraulic steering system. The multi-stage electro-hydraulic steering system comprises a mechanical transmission module, a variable-transmission-ratio multi-stage electro-hydraulic power assisting module, a vibration energy recovery module and an active steering controller module. Vibration of the power cylinder shell can be effectively restrained and relieved by combining piezoelectricity; whether vibration energy is converted into usable electric energy or not can be determined according to the specific working state. When the vibration condition of the shell of the power cylinder is slight, electric energy conversion can be selected not to be performed temporarily, and only the piezoelectric technology is used for relieving vibration, so that stable operation of the power cylinder is ensured as a primary target; when the shell of the power cylinder vibrates strongly and other parts of the equipment or the external environment has the requirement for electric energy, the vibration energy can be efficiently converted into usable electric energy through the vibration energy recovery module at the moment, reasonable utilization and recovery of energy are achieved, and the energy utilization efficiency of the whole system is improved.

Apparatus and method for damping a steering movement in an active steering system of a vehicle, wherein a variable is determined which characterizes a force acting from outside the vehicle on the steering movement of the active steering system or a moment acting from outside the vehicle on the steering movement of the active steering system that has an accelerating effect on the steering movement of the steering system. The speed of the steering movement is limited as a function of the variable. Vehicle comprising said apparatus.

An anti-folding braking system comprises a sensing unit used for obtaining motion state information of an articulated vehicle in real time; the ECU is in signal connection with the sensing unit and used for calculating a folding risk index based on the motion state information and synchronously generating a braking control instruction and an active steering control instruction when the folding risk index exceeds a first threshold value; and the execution unit comprises an active steering system and an electronic braking system and is used for executing the braking control instruction and the active steering control instruction so as to realize cooperative inhibition of the folding trend of the vehicle. The invention further discloses a folding control method applied to the braking system. The folding risk is predicted in advance by monitoring the dynamic state of the vehicle in real time, and the braking system and the active steering system of the tractor are cooperatively controlled, so that the folding phenomenon is actively prevented and inhibited.

Steering intervention for a vehicle is disclosed, including methods (S100) and related aspects for performing steering intervention on a vehicle (1). In more detail, the steering capability of the vehicle is used to create a "camber-increasing path" (201) and a "camber-decreasing path" (203), which are then stitched together to form a complete steering intervention path (205) of the vehicle. The point at which the two paths are merged is then selected to define a point at which active steering is stopped.

The invention discloses a distributed unmanned aerial vehicle cluster cooperative motion planning method and device based on a floating framework and a medium, and the method comprises the steps: planning an ideal trajectory of an unmanned aerial vehicle cluster center, and generating a following speed instruction; establishing an unmanned aerial vehicle cluster aggregation model, and constructing an aggregation speed instruction; a coordination speed instruction is designed, so that actions of the unmanned aerial vehicles in the cluster tend to be consistent; based on the neighbor unmanned aerial vehicle and the local obstacle, an active steering separation speed instruction is constructed; and realizing automatic obstacle avoidance of the unmanned aerial vehicle cluster according to the unmanned aerial vehicle power limitation adjusting speed instruction, and simultaneously realizing cooperative flight along an ideal track. By constructing a tangential separation effect, the problem of an instantaneous local minimum value caused by the opposite separation effect and the movement direction is avoided, and by autonomously selecting a path through the unmanned aerial vehicle, the situation that the unmanned aerial vehicle is easily accumulated and deadlocked due to width shrinkage of a single path and the like is avoided; the method has the advantages of low calculation complexity, high environmental adaptability, high expandability of distributed deployment and the like.

The invention relates to a multifunctional operation vehicle and a multifunctional garden vehicle. The multifunctional garden vehicle comprises a vehicle frame, at least two functional mechanisms, a power system and a controller system. The functional mechanism is used for executing specific functions of the multifunctional garden vehicle, and the power system is used for supplying power to the functional mechanism; the controller system is used for controlling the functional mechanism to generate functional state change when the functional mechanism executes a specific function; the at least two functional mechanisms comprise a garden operation component and a walking assembly, and the garden operation component is used for garden operation; the walking assembly is used for driving the multifunctional garden vehicle to run. The control piece is arranged on the active steering assembly, so that the control piece can be conveniently and quickly controlled when the hand of a user holds the control handle; and when the user controls the control piece, the hand still holds the active steering assembly, that is, the danger caused by the fact that the active steering mechanism slips out of the hand when the user controls the vehicle through the control piece is avoided.

Methods and related aspects for executing a steering intervention for a vehicle and related aspects are disclosed. In more detail, a steering capability of the vehicle is used to generate a “ramp-in path” and a “ramp-out path”, which are then stitched together to form a complete steering intervention path for the vehicle. Then, the point where the two paths have been merged is selected to define a point at which the active steering is deactivated.

This invention relates to the field of intelligent control technology for automotive rear wheels. Specifically, it relates to a performance evaluation method and system for an automotive rear-wheel active steering system. Based on the functional requirements of the entire vehicle and the standards and requirements for vehicle dynamics performance, a complete system and testing method for evaluating the function and performance of the rear-wheel steering system are established. This includes: functional scenarios, scenario conditions, condition evaluation indicators, and evaluation methods. These serve as preliminary evaluation standards in the control strategy software development stage, enabling virtual simulation verification and rapid strategy and software evaluation and optimization. They can also serve as the basis for test conditions and test cases in the controller hardware and software integration development stage, allowing for controller-in-the-loop semi-physical simulation testing and rapid verification of the controller software and hardware. Finally, they serve as the judgment standard for bench testing of the rear-wheel active steering physical system's function and performance, vehicle calibration, and test evaluation, providing a complete evaluation of the final achieved function and performance.

The invention discloses a multi-mode kingpin steering type high-integration traveling unit based on an active tie rod. The multi-mode kingpin steering type high-integration traveling unit comprises a wheel assembly, a kingpin steering system, a suspension system, an active steering tie rod system and a steering control mechanism. The high-integration driving unit can achieve various steering modes through a main pin steering motor in combination with a clutch set in an active steering tie rod system. All clutches are combined in a trapezoidal steering mode, and steering pull rods are fixedly connected into a whole; in the steering decoupling mode, mechanical constraint is disconnected, and independent steering of the left wheel and the right wheel is achieved through a main pin steering motor; the active toe-in mode improves high-speed handling stability by dynamically fine tuning wheel geometric parameters. In the safety level, the system covers a single-motor fault-tolerant mode, a fully-mechanized dual-motor fault-tolerant mode and a cross-system braking mode for generating frictional resistance by utilizing limit deflection of wheels on the two sides when a braking system fails. According to the invention, high-reliability redundancy and multi-dimensional motion control are realized, and the flexibility and safety of the vehicle are improved.