The invention provides a differential steering fault-tolerant control method and system based on active disturbance rejection. The method comprises the steps that a vehicle reference yaw angle, an actual yaw angle, a reference front wheel steering angle and an actual front wheel steering angle are obtained; according to the reference yaw angle and the actual yaw angle of the vehicle, an active-disturbance-rejection yaw angle control method is adopted, and additional yaw moment is obtained; according to the reference front wheel steering angle and the actual front wheel steering angle of the vehicle, an active-disturbance-rejection steering angle control method is adopted, and differential torque is obtained; longitudinal driving force needed by the vehicle is obtained; according to the additional yawing moment, the differential moment and the longitudinal driving force required by the vehicle, the torque of each wheel is determined based on a torque distribution method with the optimal tire load rate; and controlling the vehicle to realize transverse movement according to the torque of each wheel. Based on the scheme provided by the invention, front wheel steering and vehicle transverse control are realized by utilizing unequal longitudinal forces of the left and right wheels, and the safety and reliability of vehicle driving can be improved.
本申请提出了一种基于自抗扰的差动转向容错控制方法及系统,该方法包括:获取车辆参考横摆角、实际横摆角、参考前轮转向角和实际前轮转向角;根据车辆的参考横摆角和实际横摆角,采用自抗扰横摆角控制方法,得到附加横摆力矩;根据车辆的参考前轮转向角和实际前轮转向角,采用自抗扰转向角控制方法,得到差动力矩;获取车辆所需纵向驱动力;根据附加横摆力矩、差动力矩和车辆所需纵向驱动力,基于轮胎负荷率最优的转矩分配方法确定每个车轮转矩;根据每个车轮转矩控制车辆实现横向运动。基于本申请提出的方案,通过利用左右车轮纵向力不等实现前轮转向和车辆横向控制,能够提高车辆行驶的安全性和可靠性。
Differential steering fault-tolerant control method and system based on active disturbance rejection
一种基于自抗扰的差动转向容错控制方法及系统
2024-11-15
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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