The invention relates to the technical field of agricultural machinery, and discloses a differential steering control method of an agricultural machinery chassis. The method comprises the following steps: processing a current steering wheel angle and a current vehicle speed through a BP neural network model so as to output a torque adjustment amount required by a driving wheel of an agricultural machinery chassis for performing differential steering at present, wherein the BP neural network model is trained based on a training sample so as to be used for predicting the torque adjustment amount required by differential steering of the driving wheel, and the training sample is formed based on the steering wheel angle and the vehicle speed of the agricultural machine under various working conditions; and adjusting the torque of the driving wheel according to the initial torque of the driving wheel and the torque adjusting quantity output by the BP neural network model. Differential steering control is carried out based on the torque and the BP neural network, the torque of the rear wheels can be distributed in real time according to the steering angle of the steering wheel during steering, and the steering angle of the whole vehicle and the steering angle of the steering wheel are kept uniform under various working conditions.
本申请涉及农用机械技术领域,公开了一种农机底盘的差速转向控制方法。所述方法包括:通过BP神经网络模型处理当前方向盘转角和当前车速,以输出所述农机底盘的驱动轮当前进行差速转向所需的扭矩调节量,其中所述BP神经网络模型基于训练样本被训练以用于预测所述驱动轮进行差速转向所需的扭矩调节量,且其中所述训练样本基于农机在多种工况下的方向盘转角和车速而被形成;以及根据所述驱动轮的初始扭矩和所述BP神经网络模型输出的扭矩调节量,对所述驱动轮进行扭矩调整。本申请实施例基于扭矩和BP神经网络来进行差速转向控制,可以根据转向时的方向盘转角实时分配后轮的扭矩,使得整车转向角度与方向盘转角在各种工况下保持统一。
Agricultural machine chassis, differential steering control method thereof, controller and medium
农机底盘及其差速转向控制方法、控制器及介质
15.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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