The invention discloses a drifting control method of a wheel type unmanned platform, which can improve the stable control performance of the drifting state of a vehicle and realize the stable drifting control of the wheel type unmanned platform. According to the method, the state quantity of the prior drift equilibrium state is calculated by using a kinetic model, the stability during drift can be improved, the expected state change rate is calculated by using a first-order dynamic and kinematic equation, and the control quantity conforming to the expected state quantity change rate can be quickly and accurately obtained by using model inversion based on an optimization method; the expected longitudinal force is mapped into the expected driving wheel rotating speed by using a thrust angle formula, so that the drifting control precision can be improved, and the algorithm can be applied to oil vehicles and electric vehicles and can be applied to various wheel type platforms such as front-wheel type platforms, rear-wheel type platforms, four-wheel type platforms and the like.
本发明公开一种轮式无人平台的漂移控制方法,能够提高车辆漂移状态的稳定控制性能,实现轮式平台的稳定漂移控制。本发明使用动力学模型计算先验漂移平衡态状态量,可以提高漂移时的稳定性,使用一阶动态和运动学方程计算出期望的状态变化率,使用基于优化方法的模型反演,可以快速、精确获取符合期望状态量变化速率的控制量;使用推力角公式将期望纵向力映射为期望驱动轮转速,可以提高漂移控制的精度,使算法可应用于油车和电车,可应用于前驱、后驱、四轮驱动等多种轮式平台。
Drifting control method of wheel type unmanned platform
一种轮式无人平台的漂移控制方法
2022-03-08
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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