202 results about "Yaw moment" patented technology

A vehicle and a control method and apparatus therefor, a storage medium, and a computer program product, relating to the technical field of vehicles. The control method for a vehicle comprises: correcting an ideal yaw rate on the basis of desired steering characteristic information; obtaining an additional yaw moment on the basis of an ideal sideslip angle, the corrected ideal yaw rate, and an actual sideslip angle and an actual yaw rate of a vehicle; and performing torque distribution on the basis of the additional yaw moment. In the method, the ideal yaw rate is corrected on the basis of the desired steering characteristic information, so that, on the basis of the ideal sideslip angle, the corrected ideal yaw rate, and the actual sideslip angle and the actual yaw rate of the vehicle, variable steering characteristics of the vehicle are achieved by means of torque control, thereby enabling the vehicle to obtain higher steering sensitivity.

The invention relates to the technical field of vehicles, in particular to a distributed driving vehicle transverse stability control method and device, a vehicle and a medium, and the method comprises the steps that the state parameter, the road adhesion coefficient and the actual yaw velocity of the current vehicle are acquired; calculating an expected yaw velocity of the vehicle based on the state parameter and the road adhesion coefficient; the expected yaw moment of the vehicle is calculated based on the expected yaw velocity and the actual yaw velocity, the wheel vertical load of the vehicle is obtained, and according to the expected yaw moment and the wheel vertical load, the driving torques, meeting the transverse stability, of the multiple motors of the vehicle are determined; and a plurality of motors of the vehicle are controlled to work based on the driving torque meeting the transverse stability. Therefore, the driving force of the wheel corresponding to each motor is always matched with the available road surface adhesive force, the utilization of the overall adhesive force is maximized, and the transverse stability of the vehicle is ensured and the loss of the longitudinal speed of the vehicle can be reduced through the control of the driving torque on the yawing moment.

The invention relates to a vehicle control method, device and system, a vehicle and computer equipment. The method comprises the steps that driver operation input data and vehicle running state data are obtained, driving required torque is determined based on the driver operation input data and the vehicle running state data, and under the condition that it is monitored that a vehicle has an instability risk, the driving required torque is determined; the additional yawing moment of the vehicle and the maximum allowable driving torque of each wheel under the current road adhesion condition are determined, the driving demand torque and the additional yawing moment are used as driving targets, the maximum allowable driving torque of each wheel under the current road adhesion condition is used as a constraint condition, and the execution torque distributed to each wheel is determined; and vehicle operation is controlled based on the execution torque of each wheel. By adopting the method, the stability of the vehicle under various working conditions can be remarkably improved.

The invention discloses a fault diagnosis and fault-tolerant control method for in-situ steering of a distributed driving vehicle on a wet and slippery road surface, and aims to solve the problem of instability of the vehicle when a driving unit has faults such as driving failure, mechanical locking or excessive slipping. According to the method, the vehicle state is obtained in real time, the initial torque instruction is calculated, and online diagnosis and accurate recognition of the fault mode are achieved. Aiming at hardware faults such as driving failure, the system breaks and isolates a fault wheel; and aiming at excessive slipping, the torque is preferentially and actively reduced to recover the adhesive force, and temporary isolation is carried out after recovery failure. Once the fault unit is confirmed to be isolated, the system immediately starts a torque reconstruction module based on quadratic programming (QP), and the driving task is optimally redistributed to the remaining healthy wheels in real time so as to maintain the expected yaw moment of the whole vehicle. According to the strategy adopted by the invention, faults with different properties can be effectively distinguished and processed in a differentiated manner, and the control stability and active safety of the vehicle under the conditions of severe work and partial failure are remarkably improved.

A model predictive lane centering (MPLC) control system with reference switching and disturbance rejection includes: an MPLC application having control logic that utilizes model predictive control (MPC) for selectively tracking static and dynamic references, adapts MPC weights and constraints for trajectory tracking when the system switches between static and dynamic references. A Kalman filter estimates a lateral force disturbance, a yaw moment disturbance acting upon a vehicle, and a measurement bias corrupting a measured yaw rate. The system detects anomalies in MPC reference trajectory and adjusts actuator constraints in response to detected anomalies. The system actively and continuously adjusts actuator outputs, causing the vehicle to track and follow a current lane center, and on receiving a lane change command, smoothly changes lanes using vehicle actuators to alter position and alter a vehicle trajectory to enter an adjacent lane before returning to tracking and following a center of the adjacent lane.

The invention relates to the technical field of vehicle chassis cooperative control, in particular to a distributed driving special vehicle severe road condition chassis cooperative control method, which comprises the following steps: estimating the whole vehicle mass through a recursive least square method, and estimating a road adhesion coefficient in combination with unscented Kalman filtering and a tire model; dividing into three types of no-load, half-load and full-load according to the mass of the whole vehicle, and dividing into three types of high-attachment, middle-attachment and low-attachment according to a road adhesion coefficient, so as to obtain nine types of driving working conditions; the yaw velocity, the side slip angle and the roll control threshold value based on the transverse load transfer rate are adjusted in a self-adaptive mode according to different working conditions; additional yawing moment is calculated through a PID controller; in combination with a four-wheel vertical force distribution result, a four-wheel independent torque distribution algorithm is used for determining driving torque or braking torque of four wheels, and a corresponding instruction is output through a drive-by-wire chassis interface; the problems of insufficient model precision, poor parameter adaptability and fixed control threshold value existing in the traditional control of the distributed driving special vehicle under the severe road condition are solved.

An aircraft having a plurality of independent yaw control mechanisms includes an airframe having a central fuselage sized to hold at least one operator or payload and a wing extending from the fuselage. The aircraft includes a distributed thrust array coupled to the airframe, the thrust array having at least a first, second, and third pair of propulsion assemblies. Each propulsion assembly includes a rotor and is operable for at least single-axis thrust vectoring. The aircraft further includes a flight control system operable to independently control and combine each yaw mechanism of the propulsion assemblies. The yaw mechanisms for inducing a yaw moment include: canting at least one pair of propulsion assemblies away from the fuselage, selectively tilting at least one pair of propulsion assemblies forwards and backwards, varying an aerodynamic control surface of at least one propulsion assembly, and varying a rotational speed of at least one propulsion assembly.

The invention discloses an electric vehicle stability control method based on steady-state lateral acceleration gain. The method comprises a steady-state yaw reference model, a steady-state lateral acceleration gain model, a feedback control module, a feedforward control module, a rear wheel differential yaw moment distribution module and a vehicle module. The steady-state yaw reference model and the steady-state lateral acceleration gain model are respectively used for calculating an expected yaw velocity and an ideal steering transmission ratio yaw velocity; the vehicle module is used for outputting actual state quantities of the vehicle, including longitudinal vehicle speed, yaw velocity and steering wheel angle; the feedback control module and the feed-forward control module determine feedback yawing moment and feed-forward yawing moment respectively, the feedback yawing moment and the feed-forward yawing moment are added to determine total yawing moment, and the rear wheel differential yawing moment distribution module distributes the total yawing moment according to steady-state characteristic categories of a vehicle and transmits the total yawing moment to the vehicle module for control. Therefore, the lateral stability and the maneuvering performance of the automobile are improved.

A self-adaptive cruise and torque distribution cooperative control method for a distributed driving electric vehicle comprises the following steps: establishing a two-degree-of-freedom vehicle dynamics model, combining a nonlinear tire model and a longitudinal load transfer effect, establishing a longitudinal motion control model, adopting a permanent magnet synchronous motor, introducing a motor efficiency MAP graph, and predicting a control algorithm by using a multi-target optimization model. And constructing a multi-state variable optimization model, dynamically adjusting a weight coefficient, introducing a relaxation factor, converting a problem into a quadratic programming problem, and generating an optimization control instruction. And designing a nonlinear model predictive controller to calculate an optimal direct yaw moment, determining a torque distribution coefficient, solving a target function for minimizing the total loss power of the motor through quadratic programming, and finding an optimal torque distribution coefficient to be applied to the motor. And a dynamic model, a longitudinal motion control model and a nonlinear model predictive controller are integrated to form a comprehensive vehicle control system and realize closed-loop control iteration, so that the safety, comfort and energy efficiency of the vehicle under complex working conditions are improved.

A vehicle control method, system and apparatus, and a vehicle. The method comprises: when it is determined that a vehicle travel stability function state is in an activated state, calculating a left rear motor target torque and a right rear motor target torque of a vehicle; and applying the left rear motor target torque and the right rear motor target torque to a left rear drive motor and a right rear drive motor of the vehicle, respectively, so as to control the travel stability of the vehicle. In the method, system and apparatus, and the vehicle, by applying the left rear motor target torque and the right rear motor target torque to the left rear wheel and the right rear wheel of the vehicle, respectively, a compensation yaw moment is generated, so that when the vehicle is in a state such as emergency braking, the control response is faster, the travel stability of the vehicle is better maintained, and the problem of deviation during traveling is solved.

The invention discloses a vehicle turning control method and device and a distributed driving vehicle, and relates to the technical field of vehicles. The method comprises the steps that under the condition that the current working condition of a vehicle is a curve acceleration working condition, the total yawing moment is determined based on target driving force corresponding to all wheels in the vehicle; on the basis of the total yaw moment and an aggressive degree coefficient corresponding to the current driving mode, compensation yaw moment is determined; the aggressive degree coefficient is related to the average transverse acceleration of the vehicle within the preset duration closest to the current moment; determining a target rear wheel steering angle corresponding to the compensated yaw moment; an angle of a rear wheel in the vehicle is adjusted based on the target rear wheel steering angle to accelerate the vehicle through the curve. By adopting the method, the efficiency of the vehicle passing through the curve and the driving safety can be improved under the condition that the vehicle runs on the curve.

The invention relates to a wheel hub motor angle module vehicle skew stability control method and device, and relates to the technical field of vehicle control, and the method comprises the steps: determining a target longitudinal resultant force, a target rotation angle of each wheel and an expected additional yaw moment based on the speed and pose parameters of a vehicle and corresponding expected values; based on the target longitudinal resultant force, the target turning angle of each wheel and the expected additional yawing moment, obtaining a target four-wheel output moment; and controlling wheels according to the target four-wheel output torque. By controlling the target four-wheel output torque, the target longitudinal resultant force, the target rotating angle of each wheel and the expected additional yawing torque of the vehicle in the oblique running state are accurately controlled, and unnecessary yawing caused by external lateral force interference is effectively restrained. The problems that in the prior art, when external lateral force interference is generated and external yawing moment is formed, unnecessary yawing possibly occurs when a four-wheel independently-driven vehicle runs obliquely at a high speed, then the situation that the vehicle is unstable possibly occurs, and use safety is affected are solved.

Various control surfaces are disclosed that can cause a side force along a lateral axis running through a center of mass of a craft when the control surfaces are deployed in a same direction. The side force can be created without creating a yawing moment on the craft. The control surfaces can be on a winglet of the craft. Also disclosed are a split-flap control surface and stand-alone ailerons.

The invention discloses an X-type control method for intelligently distributing torque and a chassis system. The X-type control method comprises the steps that a left front hydraulic channel, a right rear hydraulic channel and a right front hydraulic channel and a left rear hydraulic channel are built; the sensor obtains parameters such as wheel rotating speed and load; the control module combines slip rate, longitudinal force (calculated according to tire rigidity and the like) and unscented Kalman filtering to estimate an adhesion coefficient, calculates hydraulic pressure and generates a driving signal; the hydraulic valve adjusts the torque to adapt to straight lines (distributed according to load transfer), steering (insufficient / excessive deviation correction steering) and unbalanced road working conditions, and energy consumption optimization is further included. The system comprises a sensing module, a control decision-making module and the like, normal driving and braking are still guaranteed when an X-type layout single channel breaks down, natural yaw moment exists, and the problems that in the braking or driving process of an existing vehicle chassis, moment distribution is not uniform, and response to single-wheel loads and road surface attachment changes is insufficient are solved.

The invention discloses a composite steering unmanned platform stability control method based on an extension theory. According to the method, an upper-layer hierarchical control framework, a middle-layer hierarchical control framework and a lower-layer hierarchical control framework are constructed for a distributed driving composite steering unmanned platform. The upper-layer trajectory tracking controller adopts model predictive control (MPC) to output an expected yawing moment, and adjusts the longitudinal driving moment of each wheel in combination with PID to realize path tracking control; the middle layer adopts a Gaussian mixture model (GMM) based on a nonlinear tire model, solves an extension boundary threshold value on a phase plane through a maximum likelihood estimation algorithm, introduces an extension set correlation function, adaptively distributes Ackerman steering and differential steering weights according to a side slip angle and a change rate thereof, and realizes smooth switching and fusion of multi-mode steering; and the lower layer decouples and distributes the tire force, and realizes coordination and satisfaction of the yawing moment and the driving demand by combining the driving torque and the Ackerman steering angle inverse solution.

System for estimating a coefficient of friction (Cp value) between brake pad and brake disc of a hydraulic braking system of a motor vehicle, comprising: at least one hydraulic braking system that acts on at least one wheel of the motor vehicle; at least one further actuator system comprising an EM single-wheel motor, which can apply a torque to at least one wheel with a higher positioning accuracy than the hydraulic braking system, causing a yaw moment on the vehicle; at least one sensor; a unit for calculating an estimated coefficient of friction (Cp value) from the sensor data.

The application discloses an air crossing robot, which comprises a flying mechanism and a buffer mechanism, wherein the flying mechanism comprises a flying body and a support connected with the flying body, and the buffer mechanism comprises a ring-shaped protection component movably connected with the support, the ring-shaped protection component is arranged around the flying body, and the ring-shaped protection component can rotate around its axis. The buffer mechanism of the air crossing robot can effectively separate the yawing moment in the phase-cut direction, thereby reducing the amplitude of the change of the flight posture of the air crossing robot, and in combination with the specific structure of the ring-shaped protection component, the collision duration can be prolonged, and substantial impact buffering is provided. Experiments show that the trend of the inclination of the air crossing robot after being hit is greatly reduced by being equipped with the buffer mechanism.

The application discloses a fuzzy neural network H∞ yaw moment controller based on phase plane analysis and belongs to the technical field of drive-by-wire chassis and vehicle stability control. The application quantitatively describes the real-time stability boundary in the vehicle driving process by the phase plane analysis technology, realizes accurate evaluation of the overall stability state of the system, designs the yaw moment controller by using the H∞ robust control theory, avoids the system chattering problem from the design level, guarantees the robustness of the control system, simultaneously introduces the fuzzy neural network online approximation controller parameter and the nonlinear mapping relationship between the vehicle driving state, realizes the autonomous optimization of the controller parameters under different working conditions, and thus the driving stability and adaptability of the distributed drive vehicle under the complex driving environment are significantly improved.

The invention provides a wind turbine generator yaw control method, system and device and a medium, and the control method comprises the steps: obtaining a theoretical thrust-lateral force along a cabin coordinate system according to wind speed-wind direction data; carrying out vector fusion on the real thrust-lateral force and the theoretical thrust-lateral force to obtain a wind load resultant force direction and a yaw moment estimation value generated by the wind load resultant force direction to the center of the tower drum; when the wind load resultant force direction is consistent with the deviation direction of the current wind direction and the yaw moment estimated value exceeds a preset moment threshold value, wind direction prediction data of the wind direction in future preset time are obtained: when the wind direction prediction data meet preset conditions or not, a wind load auxiliary mode is entered, a yaw brake is controlled to release braking force, and the yaw brake is controlled to release braking force; the wind load leading is mainly utilized, and the yaw motor drives the cabin to rotate in a partial rated torque compliant following mode, so that the axis direction of the cabin is consistent with the current wind direction. The yaw control of the wind turbine generator has the advantages of low hysteresis quality, low frequency impact and low energy consumption.

The invention relates to the technical field of vehicle control, in particular to a vehicle stability control method and a vehicle. The method comprises the steps that driving parameters are obtained, it is determined that the driving parameters meet crosswind state conditions, and a stability control function is activated; obtaining vehicle body state parameters, and combining the vehicle body state parameters with the driving parameters to determine expected correction yaw moment; determining a rear wheel correction rotation angle corresponding to the expected correction yawing moment; and controlling a rear wheel to carry out angle correction according to the rear wheel correction rotation angle. Therefore, the accurate rear wheel correction rotation angle capable of counteracting the crosswind direction deflection condition of the vehicle can be obtained according to the crosswind condition, and the rear wheels of the vehicle are controlled to perform angle correction according to the rear wheel correction rotation angle, so that the rear wheels after angle correction can counteract the corresponding direction deflection condition of the vehicle due to the crosswind, direction adjustment of the front wheels is not needed, and the operation is simple and convenient. And direction deflection caused by crosswind can be avoided, so that the vehicle can stably run.

This invention discloses a chassis reinforcement learning collaborative control method and system based on contradiction-driven control, belonging to the field of vehicle dynamics control. The method includes: acquiring the vehicle state, calculating the ideal yaw rate, defining a stability boundary function based on the phase plane, and calculating the contradiction index; combining the vehicle state, contradiction index, and underlying commands into a full-scale state input feature vector; constructing an Actor-Critic-based reinforcement learning network model including an encoder, a master policy head, and a dual explorer head, training it to maximize cumulative rewards and employing a conflict-avoidance gradient descent algorithm, and removing the dual explorer head after convergence; during actual vehicle operation, inputting the state vector into the model, outputting the rear wheel steering angle residual compensation and yaw moment residual compensation, superimposing them onto the underlying commands, and distributing them to each wheel motor after amplitude limiting. This invention achieves contradiction-driven collaborative control of active rear wheel steering and direct yaw moment, improving vehicle stability and ride comfort under extreme conditions.

The invention discloses a wheel hub motor vehicle stability control method and system, and belongs to the technical field of automobile engineering. The method comprises the steps that a fuzzy super-spiral sliding mode observer is designed to estimate longitudinal tire force; designing a super-spiral sliding-mode observer of lateral tire force to estimate the lateral tire force of the front axle and the rear axle; a sliding mode surface is defined according to the slip rate error, sliding mode gain is adjusted based on the correction obstacle function, and braking torque is obtained; according to the yaw velocity and the side slip angle error, generating additional yaw moment by adopting a fuzzy super-spiral sliding mode control law, and distributing four-wheel driving moment under motor torque constraint and longitudinal lateral tire force constraint by taking minimum yaw moment deviation and longitudinal tire force deviation as objective functions, so as to obtain a four-wheel driving moment; and the operation of the hub motor is controlled according to the braking torque and the four-wheel driving torque. And the control stability and safety of the hub motor vehicle under complex working conditions are improved.

A method for electric vehicle stability control based on steady-state lateral acceleration gain is disclosed. This method includes a steady-state yaw reference model, a steady-state lateral acceleration gain model, a feedback control module, a feedforward control module, a rear-wheel differential yaw moment distribution module, and a vehicle module. The steady-state yaw reference model and the steady-state lateral acceleration gain model are used to calculate the desired yaw rate and the ideal steering ratio yaw rate, respectively. The vehicle module outputs the actual state quantities of the vehicle, including longitudinal vehicle speed, yaw rate, and steering wheel angle. The feedback control module and the feedforward control module determine the feedback yaw moment and the feedforward yaw moment, respectively, and their sum determines the total yaw moment. The rear-wheel differential yaw moment distribution module distributes the total yaw moment according to the vehicle's steady-state characteristic category and transmits it to the vehicle module for control, thereby improving the vehicle's lateral stability and handling performance.

The invention relates to a distributed propulsion aircraft yaw control method and system.The method comprises the steps that in response to received yaw control instruction information, yaw moment needed for achieving yaw is determined; based on the yaw moment, a control signal used for driving the thrust reverser is generated; based on the control signal and the state information of the aircraft, through a cooperative control strategy, obtaining a global control instruction of a thrust reverser and a propulsion device; and executing the global control instruction, and controlling the thrust reverser and the propulsion device to cooperatively act. The problem of how to improve the yaw control efficiency of the aircraft in the related technology is solved.

The invention discloses a vehicle, a control method and device thereof, a storage medium and a computer program product, and relates to the technical field of vehicles. The control method of the vehicle includes: correcting an ideal yaw velocity according to desired steering characteristic information; according to the ideal side slip angle, the corrected ideal yaw velocity and the actual side slip angle and actual yaw velocity of the vehicle, additional yaw moment is obtained; and carrying out torque distribution based on the additional yawing moment. According to the method, the ideal yaw velocity is corrected according to the expected steering characteristic information, and then the variable steering characteristic of the vehicle is achieved through torque control based on the ideal side slip angle, the corrected ideal yaw velocity and the actual side slip angle and the actual yaw velocity of the vehicle, so that the vehicle can obtain higher steering sensitivity.

The present application relates to the field of vehicle dynamics control, and discloses a kind of diagonal module configuration vehicle diagonal steering switching control method: the three-degree-of-freedom model of vehicle translation, yaw and roll of vehicle is established, and then the system state space equation is established;Vehicle desired state, vehicle output and the control index of controller are defined according to the front and rear wheel rotation angle of vehicle, the state feedback control law of controller is obtained;LPV system model is established in combination with system state space equation and time-varying vehicle speed, and LPV system model is used to describe the change of system state space equation caused by vehicle speed change;Gain scheduling is carried out based on LPV system model, and the state feedback control law under different vehicle speeds is obtained according to the state feedback control law of controller, the expected additional yaw moment and the expected roll moment are output, and then the expected wheel end torque of four wheels and the expected active suspension force are output.The present application solves the control problem of diagonal module configuration vehicle in mode switching process.

The invention discloses a calibration method of a conventional rod type balance used in a dynamic test, and relates to the field of wind tunnel tests in the aviation technology, and the method comprises the steps: firstly, taking a torque reference point (a calibration center) at a position where a front torque beam is attached to a strain gauge; and further, a strain calculation formula generated by inertia force and moment caused by dynamic motion of the balance head section and the model is synchronously changed, so that the aim of improving a calibration formula is fulfilled. Under the condition that the measurement structure of the existing six-component strain balance is kept unchanged, the influence of the mass between the front measurement beam and the rear measurement beam on pitching moment and yaw moment transient measurement can be basically eliminated through the change of the marking method, the influence on normal force and lateral force transient measurement is simplified, the good transient response characteristic is achieved, and the measurement accuracy of the six-component strain balance is improved. And the transient force measurement precision can be improved.

Embodiments of the present application disclose a kind of control method, device and ship control system of ship.The method comprises: obtaining the current heading of the ship, target heading, wind force, wind direction, flow force and flow direction;According to the current heading, the wind force, the wind direction, the flow force and the flow direction, determine total yaw torque;According to the difference of the current heading and the target heading, determine feedback torque;According to the total yaw torque and the feedback torque, determine rudder direction angle, and according to the rudder direction angle, control the ship to adjust to the target heading.The technical scheme provided by the embodiments of the present application can ensure that the ship travels according to the target heading, reduce the risk of deviation of the ship, improve the accuracy and stability of ship navigation, and also do not need manual control, reduce labor cost.

The invention relates to the technical field of course control, and discloses a landing stage course regulation and control method and system based on distributed electric propulsion reversal and differential fusion control, and the method comprises the steps: obtaining the data of an aircraft body, and collecting the course flight data of the landing stage in real time; dividing the landing stage into a plurality of sub-stages, formulating a course control strategy of each sub-stage, and obtaining a total target yaw moment required by flight according to the control strategy; according to the control weight of an actuator preset in the current sub-stage, in combination with a working mode set by the control strategy, the total target yaw moment is controlled and distributed, and a distribution result is obtained; and generating a rotating speed control instruction of the corresponding motor according to the output target thrust of each motor so as to drive the corresponding motor to operate. According to the method, the mechanical structure can be greatly simplified, a deceleration-course dual fault-tolerant mechanism is constructed, the out-of-control risk caused by a single-point fault is remarkably reduced, and the dynamic response speed and the control precision are remarkably improved.

The application provides a flapping mechanism with independently controllable flapping start position, comprising a wing rod, a connecting rod A, a connecting rod linear servo, a motor gear, a connecting rod B, a transmission wheel A, a transmission wheel B, a swing rod connecting piece, a rocker connecting piece, a micro linear servo, a speed reduction motor, a fuselage support and a swing rod linear servo. The application generates active yawing torque by flapping difference of two sides of the wing surface, fundamentally solves the problem that the vertical tail fails in the case of low flow velocity, and also solves the problems of poor disturbance resistance and poor maneuverability of the flapping wing aircraft in the low speed case. In addition, in the gliding stage, the upwash angle of the two sides of the wing surface and the tail can be controlled respectively, so that more bionic, flexible and efficient gliding flight is realized. The sub-aircraft has the characteristics of flight attitude bionics, strong visual confusion, low flight noise and high efficiency, and can be used in outdoor close-range reconnaissance, high-altitude long-endurance surveillance reconnaissance, wild animal close-range video shooting and other task scenes, and has important significance and value in the future.