A motion control device independently drives left and right wheels by calculating a wheel torque value from a difference between a reference vehicle state quantity or an operation instruction of a higher driving device and an actual vehicle state quantity regarding a motion and a posture of the vehicle, and controlling a plurality of motors based on the wheel torque value. The motion control device calculates a momentum error from a difference between a reference momentum based on wheel speed and a tire steering angle and an actual momentum based on the the motion and the posture of the vehicle, extracts a momentum error, calculates a wheel torque correction amount based on the extracted momentum error caused by the torque difference of the motor, adds the wheel torque correction amount to the wheel torque value, and outputs a wheel torque command to the plurality of motors.
MOTION CONTROL DEVICE FOR LEFT AND RIGHT INDEPENDENT DRIVE VEHICLE
2023-12-14
Patent
Electronic Resource
English
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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