The invention discloses a hybrid tracked vehicle electromechanical combined emergency braking stability control method considering a road slope and a vehicle. The method comprises the steps that a maximum safety deceleration curve is calculated based on vehicle parameters and braking stability requirements on a horizontal road surface; acquiring a road slope and a vehicle pitch angle based on a slope sensing system; obtaining a current braking deceleration value and a vehicle speed value of the vehicle; and comparing the relationship between the actual deceleration value at the current vehicle speed and the deceleration value in the maximum safety deceleration curve, and performing feedforward control and PID control on the motor torque by taking the maximum deceleration as a control target. According to the method, when the tracked vehicle is located on the ramp, under the condition that the stability requirement is met, rapid braking can be achieved, the vehicle braking distance is shortened, and meanwhile the braking efficiency and safety are improved.

    一种考虑道路坡度的混动履带车辆机电联合紧急制动稳定性控制方法和车辆,所述方法包括:基于水平路面上车辆参数和制动稳定性要求计算最大安全减速曲线;基于坡度感知系统,获取道路坡度与车辆俯仰角;获取车辆当前制动减速度值、车速值;对比当前车速下的实际减速度值与最大安全减速曲线中减速度值关系,以最大减速度为控制目标,对电机转矩进行前馈控制和PID控制。该方法可以使履带车辆处于坡道时,能在满足稳定性要求的情况下,实现快速制动,降低车辆制动距离,同时提升制动效率和安全性。


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    Title :

    Hybrid tracked vehicle electromechanical combined emergency braking stability control method considering road gradient and vehicle


    Additional title:

    一种考虑道路坡度的混动履带车辆机电联合紧急制动稳定性控制方法及车辆


    Contributors:
    HAN XUEFENG (author) / ZHAO YULONG (author) / WEI KAIFENG (author) / WANG YUPU (author) / ZHAO XUESONG (author) / LUO JUNLIN (author) / LIU QIAN (author)

    Publication date :

    2024-03-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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