The invention discloses a shimmy suppression method for a duplex-winding drive-by-wire kingpin steering system. The shimmy suppression method comprises the steps that a mathematical model of a four-wheel independent steering vehicle and a mathematical model of the duplex-winding kingpin steering system are established; subtracting the real-time yaw velocity of the vehicle body from the actual yaw velocity of the vehicle body to obtain vehicle body shimmy data; four different wheel corner values in the drive-by-wire kingpin steering system for restraining the vehicle body shimmy are obtained through calculation; current control signals of a first set of windings of different double-winding permanent magnet synchronous motors in the drive-by-wire kingpin steering system are obtained through calculation; calculating to obtain a current control signal of a second set of windings of the double-winding permanent magnet synchronous motor; different winding current control signals jointly act on the double-winding permanent magnet synchronous motor, and shimmy suppression control over the double-winding drive-by-wire kingpin steering system is completed. Through decoupling control between different windings, the problem of shimmy coupling between the vehicle body and the wheel end is effectively suppressed, the vehicle coupling shimmy suppression efficiency is improved, and the anti-interference capability and robustness of wheel angle tracking are improved.
本发明公开了一种双绕组线控主销转向系统的摆振抑制方法,包括:建立四轮独立转向车辆的数学模型及双绕组主销转向系统的数学模型;将车身实时横摆角速度与实际的车身横摆角速度相减得到车身摆振数据;计算得到抑制车身摆振线控主销转向系统中的四个不同车轮转角值;计算得到线控主销转向系统中不同双绕组永磁同步电机的第一套绕组的电流控制信号;计算得到双绕组永磁同步电机的第二套绕组的电流控制信号;将不同绕组电流控制信号共同作用于双绕组永磁同步电机,完成对双绕组线控主销转向系统的摆振抑制控制。本发明通过不同绕组间解耦控制,有效抑制车身与轮端摆振耦合问题,提高车辆耦合摆振抑制效率提高车轮角度跟踪的抗干扰能力与鲁棒性。
Shimmy suppression method for duplex-winding drive-by-wire kingpin steering system
一种双绕组线控主销转向系统的摆振抑制方法
09.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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