CN107562067A - The control method and system of a kind of vehicle balance - Google Patents

The control method and system of a kind of vehicle balance Download PDF

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Publication number
CN107562067A
CN107562067A CN201710811016.4A CN201710811016A CN107562067A CN 107562067 A CN107562067 A CN 107562067A CN 201710811016 A CN201710811016 A CN 201710811016A CN 107562067 A CN107562067 A CN 107562067A
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output
wheel drive
matrix
drive torque
calculated
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王裕
王峰
翁航
翁一航
章国豪
刘怡俊
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Guangdong University of Technology
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Guangdong University of Technology
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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Abstract

The invention provides a kind of control method of vehicle balance and system, in the present invention, can be when vehicle be in dead ship condition, first by the angular adjustment at Nose Wheel Steering angle to being more than predetermined angle, then the front-wheel drive torque being calculated is output to motor driver, and then motor driver can adjust the output torque of front-wheel drive motor, so that vehicle keeps balancing automatically, keep balancing due to the unused car branch support ground of the present invention, and then solve when car branch is damaged, bicycle will cannot rely on itself and balance the problem of fixing on the ground.

Description

The control method and system of a kind of vehicle balance
Technical field
The present invention relates to vehicle balance control field, in particular, is related to a kind of control method of vehicle balance and is System.
Background technology
Bicycle is green for automobile, and occupancy parking area is small and price economy is economical, and then voluntarily The utilization rate of car rises year by year.
When bicycle is not used, supported on the ground by the car branch of bicycle, to ensure the balance of bicycle, But when car branch is damaged, bicycle fixes on the ground what be cannot rely on itself and balance.
The content of the invention
In view of this, the present invention provides a kind of control method and system of vehicle balance, to solve when car branch is damaged When, bicycle will cannot rely on itself and balance the problem of fixing on the ground.
In order to solve the above technical problems, present invention employs following technical scheme：
A kind of control method of vehicle balance, including：
When vehicle is in dead ship condition, sends angle adjustment instruction and arrive Nose Wheel Steering motor driver, so that before described Wheel turning motor driver control Nose Wheel Steering motor is the angular adjustment at Nose Wheel Steering angle to being more than predetermined angle；
Obtain the vehicle body roll angle and front wheel steering angle of vehicle；
According to the vehicle body roll angle and the front wheel steering angle, front-wheel drive torque is calculated；
The front-wheel drive torque is output to motor driver, so that the vehicle keeps static balancing automatically.
Preferably, according to the vehicle body roll angle and the front wheel steering angle, front-wheel drive torque is calculated, including：
Generate output matrix；Wherein, the output matrix is to be made up of the vehicle body roll angle and the front wheel steering angle Matrix；
According to the output matrix, value of feedback is calculated；
According to the interference estimate in a upper cycle, and the value of feedback, front-wheel drive torque was calculated.
Preferably, according to the output matrix, value of feedback is calculated, including：
The output matrix is multiplied with the first regulation coefficient, obtains the first output matrix；
After the output matrix is carried out into derivation, it is multiplied with the second regulation coefficient, obtains the second output matrix；
First output matrix is added with second output matrix, obtains the value of feedback.
Preferably, according to the interference estimate in a upper cycle, and the value of feedback, front-wheel drive torque was calculated, Including：
The value of feedback and the interference estimate in a upper cycle were subtracted each other, obtain front-wheel drive torque.
Preferably, after the front-wheel drive torque being output into front-wheel drive motor, in addition to：
Front-wheel drive torque is multiplied with transfer function matrix, output adjustment amount is calculated；
The output matrix and the output adjustment amount are subtracted each other, obtain output adjustment matrix；
By the output adjustment matrix and interference adjustment matrix multiple, the interference estimate in this cycle is obtained.
A kind of control system of vehicle balance, including：
Sensor group, for when vehicle is in dead ship condition, obtaining the vehicle body roll angle and front wheel steering angle of vehicle；
Control module, driven for when vehicle is in dead ship condition, sending angle adjustment instruction to Nose Wheel Steering motor Device, so that the Nose Wheel Steering motor driver controls Nose Wheel Steering motor the angular adjustment at Nose Wheel Steering angle to more than default Angle, according to the vehicle body roll angle and the front wheel steering angle, calculate front-wheel drive torque, and by the front wheel drive force Square is output to motor driver；
Motor driver, for receiving front-wheel drive torque, and then the torque for adjusting front-wheel drive motor is front-wheel drive Torque.
Preferably, the control module is used to, according to the vehicle body roll angle and the front wheel steering angle, calculate front wheel driving During kinetic moment, it is specifically used for：
Generate output matrix；Wherein, the output matrix is to be made up of the vehicle body roll angle and the front wheel steering angle Matrix；
According to the output matrix, value of feedback is calculated；
According to the interference estimate in a upper cycle, and the value of feedback, front-wheel drive torque was calculated.
Preferably, the control module is used for according to the output matrix, when value of feedback is calculated, is specifically used for：
The output matrix is multiplied with the first regulation coefficient, obtains the first output matrix；
After the output matrix is carried out into derivation, it is multiplied with the second regulation coefficient, obtains the second output matrix；
First output matrix is added with second output matrix, obtains the value of feedback.
Preferably, the control module was used for the interference estimate according to a upper cycle, and the value of feedback, calculated During to front-wheel drive torque, it is specifically used for：
The value of feedback and the interference estimate in a upper cycle were subtracted each other, obtain front-wheel drive torque.
Preferably, the control module is used for after the front-wheel drive torque is output into front-wheel drive motor, is additionally operable to：
Front-wheel drive torque is multiplied with transfer function matrix, output adjustment amount is calculated；
The output matrix and the output adjustment amount are subtracted each other, obtain output adjustment matrix；
By the output adjustment matrix and interference adjustment matrix multiple, the interference estimate in this cycle is obtained.
Compared to prior art, the invention has the advantages that：
The invention provides a kind of control method of vehicle balance and system, in of the invention, can work as vehicle and be in parking During state, first by the angular adjustment at Nose Wheel Steering angle to predetermined angle is more than, the front-wheel drive torque being then calculated exports To motor driver, and then motor driver can adjust the output torque of front-wheel drive motor, so that vehicle keeps flat automatically Weighing apparatus, keep balancing due to the unused car branch support ground of the present invention, and then solve when car branch is damaged, bicycle will Cannot rely on itself and balance the problem of fixing on the ground.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the structural representation of vehicle provided by the invention；
Fig. 2 is a kind of method flow diagram of the control method of vehicle balance provided by the invention；
Fig. 3 is a kind of structural representation of the control system of vehicle balance provided by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.
The embodiments of the invention provide a kind of control method of vehicle balance, applied to control module.Wherein, for ability Understanding this programme that the technical staff in domain can be more clearly understood, first the structure chart of bicycle is introduced.
Bicycle includes vehicle frame 1 and transfer 2, drive device 3, sensor group, battery 5, front-wheel on vehicle frame 1 6th, trailing wheel 7, shaft coupling 8, Nose Wheel Steering motor driver 9, motor servo driver 10, vehicle seat 11 and control module, front-wheel 6 can Rotation is installed in drive device 3, and front-wheel 6 is fixedly connected with the clutch end of drive device 3；Transfer 2 fixes peace Front end loaded on vehicle frame 1, and the clutch end of transfer 2 be fixedly connected with drive device 3 and driver 3 and before Wheel 6 rotates；Trailing wheel 7 is rotatably mounted to the rear end of vehicle frame 1, control module and sensor group, battery 5, transfer 2 and driving Device 3 electrically connects；Vehicle seat 11 is detachably installed on vehicle frame 1.Control module is single-chip microcomputer or programmable logic controller (PLC) PLC.
Control module is detected by sensor group to the vehicle body roll angle and front wheel steering angle of vehicle frame 1, is then exported Control signal is to transfer 2 and drive device 3.By controlling transfer 2 to control direction and the angle of front-wheel 6, make Front-wheel 6 rotates certain direction and angle and controls the balance of vehicle, wherein, in the present invention, front wheel steering angle is definite value, control After front wheel steering angle is calculated in module, transfer 2 is output to, and then makes the angle in Vehicular turn front wheel steering angle.
Transfer 2 includes steering motor 21 and turning motors driver 9.Steering motor 21 is fixedly installed in vehicle frame 1 Front end；Steering motor 21 is vertically arranged, and its output shaft is fixedly connected with drive device 3, turning motors driver 9 and with control Module electrically connects.According to the demand of angle of turn size, control module outputs a control signal to turning motors driver 9, and then Direction of rotation and angle are rotated steering motor 21 on request, so as to which driving moment rotates, realize different directions and angle The function of turning, applicability is high, can especially be adapted to the road occupation for needing wide-angle to turn, and turns to flexibly, steering reaction is fast and makes With conveniently.
Drive device 3 includes mounting bracket 31, front-wheel drive motor 32, the motor servo driver being installed on mounting bracket 31 10 and transmission mechanism, front-wheel drive motor 32 be fixedly installed on mounting bracket 31, front-wheel 6 is rotatably mounted to mounting bracket 31 On；The output shaft of front-wheel drive motor 32 is connected by transmission mechanism with front-wheel 6 to drive front-wheel 6 to rotate, servomotor Driver 10 electrically connects with control module.Control module passes through motor servo driver 10, front-wheel drive motor 32 and driver Structure is controlled to the working condition of front-wheel 6.Because control module rotates separately through front-wheel drive motor 32 to wheel Or stop being controlled, it can rapidly change the working condition of motor, realize the rotation and stopping of front-wheel 6.
Transmission mechanism includes driving pulley, driven pulley and transmission belt, and driving pulley is passed by transmission belt and driven pulley Dynamic connection, driving pulley and driven pulley are fixedly connected with front-wheel drive motor 32 and front-wheel 6 respectively.During work, front-wheel drive Motor 32 passes sequentially through driving pulley, transmission belt and driven pulley driving moment and rotated, and makes bicycle moving forward.
Reference picture 2, the control method of vehicle balance comprise the following steps：
S11, when vehicle is in dead ship condition, send angle adjustment instruction arrives Nose Wheel Steering motor driver so that institute Nose Wheel Steering motor driver control Nose Wheel Steering motor is stated the angular adjustment at Nose Wheel Steering angle to being more than predetermined angle；
Specifically, according to single-track vehicle kinematics and dynamics, when vehicle is in halted state, Nose Wheel Steering angle can not Position of the vehicle body center of gravity relative to the front and back wheel strong point is effectively adjusted, thus balancing vehicle can not be used for.But work as turning angle When being fixed on wide-angle (turning angle is more than+- 45 degree, it is still further preferred that+- 90 degree), front-wheel drive torque is adjusted, vehicle can be caused Reach balance.
Predetermined angle is 45 degree.
S12, the vehicle body roll angle and front wheel steering angle for obtaining vehicle；
Wherein, vehicle body roll angle is obtained using inertial sensor measurement, front wheel steering angle is obtained using encoder measurement.Its In, encoder can be optical encoder.
S13, according to vehicle body roll angle and front wheel steering angle, calculate front-wheel drive torque；
Optionally, on the basis of the present embodiment, step S13 includes：
1) output matrix is generated；Wherein, output matrix is the matrix being made up of vehicle body roll angle and front wheel steering angle；
Specifically, output matrix is the 2*1 matrixes being made up of vehicle body roll angle and front wheel steering angle.Such as, y isq1 For vehicle body roll angle, q3 is front wheel steering angle.
Further, it is also possible to state matrix is generated,
Output matrix y=Cx is whereinQ1 is vehicle body roll angle, and q3 is front wheel steering angle,It is horizontal for vehicle body Roll angle to the derivative of time,Derivative for front wheel steering angle to the time.
2) according to output matrix, value of feedback is calculated；
Wherein, value of feedback is that a median of front-wheel drive torque is calculated.
3) according to the interference estimate in a upper cycle, and value of feedback, front-wheel drive torque was calculated.
Specifically, value of feedback and the interference estimate in a upper cycle are subtracted each other, front-wheel drive torque was obtained.
S14, front-wheel drive torque is output to motor driver, so that vehicle keeps static balancing automatically.
Specifically, after motor driver receives front-wheel drive torque, the output torque of front-wheel drive motor is adjusted, so that The output torque of front-wheel drive motor is front-wheel drive torque.Wherein, motor driver is motor servo driver 10.
It should be noted that step S11- steps S14, it is necessary to every preset time perform once, wherein, preset time is Technical staff is set according to specific applying working condition.Such as can be 10s.So, control module can be adjusted in real time The front-wheel drive torque of whole front-wheel drive motor, and then vehicle is realized the static balancing of vehicle not based on Che Zhi.
In addition, front-wheel drive torque is output to after motor driver, the front-wheel of vehicle obtains under external interference d Front-wheel actual driving moment, front-wheel actual driving moment is input in anti-interference model, the output matrix obtained.
Wherein, anti-interference model is P (t).
Wherein, if matrix K=[c, d, a, b], k are constant matrices.K=[c, d, a, b], wherein, a, b, c and d are normal Number.
K=R-1(BTP(t)+NT), P (t) can be tried to achieve by below equation,
ATP(t)+P(t)A-(P(t)B+N)R-1(BTP(t)+NT)+Q=0, R, Q, N are weight size, and N is arranged in this example 0。
A is 4*4 coefficient matrixes, and B is 4*1 coefficient matrixes, and C is 2*4 coefficient matrixes.Such as
R=35.
, can be when vehicle be in dead ship condition, first by the angular adjustment at Nose Wheel Steering angle to more than pre- in the present embodiment If angle, the front-wheel drive torque being then calculated is output to motor driver, and then motor driver can adjust front-wheel The output torque of motor, so that vehicle keeps balancing automatically, keep flat due to the unused car branch support ground of the present invention Weighing apparatus, and then solve when car branch is damaged, bicycle will cannot rely on itself and balance the problem of fixing on the ground.
Explanation in the present embodiment, sensor group include being used to measure the inertial sensor 41 of the roll angle of front-wheel, And the encoder 42 of the steering angle for detecting front-wheel 6, inertial sensor 41 and encoder 42 electrically connect with control module.It is used Property sensor 41 and encoder 42 together the roll angle in the motion process of vehicle frame 1 and steering angle detect simultaneously, form oneself Balance control structure.Wherein, inertial sensor 41 measures the roll angle of vehicle frame 1 by it, and in real time passes the data measured Control module is sent to, then control module controls the roll angle of front-wheel 6 by steering motor 21, to correct the roll angle of vehicle frame 1, Roll angle is set to reach an ideal value, so as to control vehicle to realize self-balancing.And encoder 42 can detect the steering of front-wheel 6 in real time Angular data, so as to control the steering angle of vehicle in the range of one adapts to, to ensure the safety of the balance of vehicle frame 1 and traveling Property, have intelligentized control method, driving and it is safe and reliable the characteristics of.
Steering motor 21 is fixedly connected by shaft coupling 8 with drive device 3.Steering motor 21 can be risen by shaft coupling 8 To the effect for the increasing square that slows down, the torque being output in drive device 3 of increase steering motor 21, so as to control the rotation of front-wheel 6 Smoothness, prevent torsion not enough and go out to turn now to the situation of interim card and hysteresis.
Steering motor 21 is usually direct current brushless servo motor.Motor driver to turning motors by exporting varying number Pulse, the rotational angle of turning motors can be controlled, it is easy to adjust to adapt to the needs of 6 different angle of turn of front-wheel.
Front-wheel drive motor 32 is servomotor.Control module detects the steering angle of front-wheel 6 by encoder 42 in real time, so Control servomotor is modified afterwards, realizes the purpose for the steering angle for controlling front-wheel 6 exactly.
Control module respectively by Nose Wheel Steering motor driver 9 and motor servo driver 10 and steering motor 21 and before Wheel drive motor 32 electrically connects.Control module, motor servo driver 10 and servomotor collectively constitute the driving structure of front-wheel 6. Control module is detected by encoder 42 to the steering angle of wheel, then the steering angle of intelligent control servomotor, will be turned To angle control in appropriate scope, the balance and stability traveling of vehicle is realized.
Optionally, on the basis of above-described embodiment, according to output matrix, value of feedback is calculated, including：
1) output matrix is multiplied with the first regulation coefficient, obtains the first output matrix；
Wherein, the first regulation coefficient is k2=[c, d], wherein, K2 is constant matrices.
2) after output matrix being carried out into derivation, it is multiplied with the second regulation coefficient, obtains the second output matrix；
Wherein, the first regulation coefficient is k1=[a, b], wherein, K1 is constant matrices.
3) the first output matrix is added with the second output matrix, obtains value of feedback.
In the present embodiment, a kind of computational methods that value of feedback is calculated are given, and then can be calculated according to this method Obtain value of feedback.
Optionally, on the basis of any of the above-described embodiment, after front-wheel drive torque is output into front-wheel drive motor, also Including：
1) front-wheel drive torque is multiplied with transfer function matrix, output adjustment amount is calculated；
Specifically, transfer function matrix is pn(s)=C (sI-A)-1B.Wherein, A is 4*4 coefficient matrixes, and B is 4*1 coefficients Matrix, C are 2*4 coefficient matrixes.
Such as
I is unit matrix, and s is independent variable.Front-wheel drive torque is multiplied with transfer function matrix, i.e., can be calculated Output adjustment amount.
2) output matrix and output adjustment amount are subtracted each other, obtains output adjustment matrix；
3) by output adjustment matrix and interference adjustment matrix multiple, the interference estimate in this cycle is obtained.
Wherein, interference adjustment matrix Kg(s) can solve using the following method, exogenous disturbances d to output matrix y transmission letter Matrix number Hyd=(s)=pn(s)-pn(s)Kg(s)pn(s), solveSo that | | Hyd(s)||∞Obtain Minimum, wherein ni,noFor system input and output variable number, i.e. x and y.Here it is respectively 4,2.k1,k2Utilize continuous time Unbounded liner quadratic regulator device method is tried to achieve.As general | | Hyd(s)||∞When obtaining minimum, i.e., K can be calculatedg(s)。
Hereafter, by output adjustment matrix and interference adjustment matrix multiple, the interference estimate in this cycle is obtained.
In the present embodiment, an interference estimate is calculated every preset time, so can according to interference estimate, The front-wheel drive torque of next cycle is calculated.
Optionally, a kind of control system of vehicle balance is provided in another embodiment of the present invention, reference picture 3, including：
Sensor group 101, for when vehicle is in dead ship condition, the vehicle body roll angle of collection vehicle and front-wheel steer Angle；
Control module 102, driven for when vehicle is in dead ship condition, sending angle adjustment instruction to Nose Wheel Steering motor Dynamic device, so that the Nose Wheel Steering motor driver controls Nose Wheel Steering motor the angular adjustment at Nose Wheel Steering angle to more than pre- If angle, according to vehicle body roll angle and front wheel steering angle, front-wheel drive torque is calculated, and front-wheel drive torque is output to electricity Machine driver；
Motor driver 103, for receiving front-wheel drive torque, and then the torque for adjusting front-wheel drive motor is front wheel driving Kinetic moment.
Wherein, sensor group includes：For measuring the inertial sensor of vehicle body roll angle, i.e. inertial sensor in Fig. 1 41, and for measuring the encoder of front wheel steering angle, i.e. encoder 42 in Fig. 1.
Motor driver 103 can be the motor servo driver 10 in Fig. 1.
Optionally, on the basis of the present embodiment, control module 102 is used for according to vehicle body roll angle and front wheel steering angle, When calculating front-wheel drive torque, it is specifically used for：
Generate output matrix；Wherein, output matrix is the matrix being made up of vehicle body roll angle and front wheel steering angle；
According to output matrix, value of feedback is calculated；
According to the interference estimate in a upper cycle, and value of feedback, front-wheel drive torque was calculated.
Wherein, control module was used for the interference estimate according to a upper cycle, and value of feedback, and front-wheel drive is calculated During torque, it is specifically used for：
Value of feedback and the interference estimate in a upper cycle were subtracted each other, obtain front-wheel drive torque.
, can be when vehicle be in dead ship condition, first by the angular adjustment at Nose Wheel Steering angle to more than pre- in the present embodiment If angle, the front-wheel drive torque being then calculated is output to motor driver, and then motor driver can adjust front-wheel The output torque of motor, so that vehicle keeps balancing automatically, keep flat due to the unused car branch support ground of the present invention Weighing apparatus, and then solve when car branch is damaged, bicycle will cannot rely on itself and balance the problem of fixing on the ground.
It should be noted that the work of the motor driver 103 of sensor group 101, the sum of control module 102 in the present embodiment Make process, refer to the respective description in above-described embodiment, will not be repeated here.
Optionally, on the basis of the embodiment of above-mentioned control system, control module is used for according to output matrix, calculates During to value of feedback, it is specifically used for：
Output matrix is multiplied with the first regulation coefficient, obtains the first output matrix；
After output matrix is carried out into derivation, it is multiplied with the second regulation coefficient, obtains the second output matrix；
First output matrix is added with the second output matrix, obtains value of feedback.
In the present embodiment, a kind of computational methods that value of feedback is calculated are given, and then can be calculated according to this method Obtain value of feedback.
It should be noted that the course of work of the control module 102 in the present embodiment, refer to the phase in above-described embodiment It should be noted that it will not be repeated here.
Optionally, on the basis of the embodiment of any of the above-described control system, control module 102 is used for front wheel drive force After square is output to front-wheel drive motor, it is additionally operable to：
Front-wheel drive torque is multiplied with transfer function matrix, output adjustment amount is calculated；
Output matrix and output adjustment amount are subtracted each other, obtain output adjustment matrix；
By output adjustment matrix and interference adjustment matrix multiple, the interference estimate in this cycle is obtained.
In the present embodiment, an interference estimate is calculated every preset time, so can according to interference estimate, The front-wheel drive torque of next cycle is calculated.
It should be noted that the course of work of the control module 102 in the present embodiment, refer to the phase in above-described embodiment It should be noted that it will not be repeated here.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention. A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one The most wide scope caused.

Claims (10)

  1. A kind of 1. control method of vehicle balance, it is characterised in that including：
    When vehicle is in dead ship condition, sends angle adjustment instruction and arrive Nose Wheel Steering motor driver, so as to be rotated before described Curved motor driver control Nose Wheel Steering motor is the angular adjustment at Nose Wheel Steering angle to being more than predetermined angle；
    Obtain the vehicle body roll angle and front wheel steering angle of vehicle；
    According to the vehicle body roll angle and the front wheel steering angle, front-wheel drive torque is calculated；
    The front-wheel drive torque is output to motor driver, so that the vehicle keeps static balancing automatically.
  2. 2. control method according to claim 1, it is characterised in that according to the vehicle body roll angle and the front-wheel steer Angle, front-wheel drive torque is calculated, including：
    Generate output matrix；Wherein, the output matrix is the square being made up of the vehicle body roll angle and the front wheel steering angle Battle array；
    According to the output matrix, value of feedback is calculated；
    According to the interference estimate in a upper cycle, and the value of feedback, front-wheel drive torque was calculated.
  3. 3. control method according to claim 2, it is characterised in that according to the output matrix, value of feedback is calculated, Including：
    The output matrix is multiplied with the first regulation coefficient, obtains the first output matrix；
    After the output matrix is carried out into derivation, it is multiplied with the second regulation coefficient, obtains the second output matrix；
    First output matrix is added with second output matrix, obtains the value of feedback.
  4. 4. control method according to claim 2, it is characterised in that according to the interference estimate in a upper cycle, Yi Jisuo Value of feedback is stated, front-wheel drive torque is calculated, including：
    The value of feedback and the interference estimate in a upper cycle were subtracted each other, obtain front-wheel drive torque.
  5. 5. control method according to claim 1, it is characterised in that the front-wheel drive torque is output to front-wheel drive After motor, in addition to：
    Front-wheel drive torque is multiplied with transfer function matrix, output adjustment amount is calculated；
    The output matrix and the output adjustment amount are subtracted each other, obtain output adjustment matrix；
    By the output adjustment matrix and interference adjustment matrix multiple, the interference estimate in this cycle is obtained.
  6. A kind of 6. control system of vehicle balance, it is characterised in that including：
    Sensor group, for when vehicle is in dead ship condition, obtaining the vehicle body roll angle and front wheel steering angle of vehicle；
    Control module, Nose Wheel Steering motor driver is arrived for when vehicle is in dead ship condition, sending angle adjustment instruction, with Make Nose Wheel Steering motor driver control Nose Wheel Steering motor the angular adjustment at Nose Wheel Steering angle to being more than predetermined angle, According to the vehicle body roll angle and the front wheel steering angle, front-wheel drive torque is calculated, and the front-wheel drive torque is defeated Go out to motor driver；
    Motor driver, for receiving front-wheel drive torque, and then the torque for adjusting front-wheel drive motor is front-wheel drive torque.
  7. 7. control system according to claim 6, it is characterised in that the control module is used for according to the vehicle body roll Angle and the front wheel steering angle, when calculating front-wheel drive torque, it is specifically used for：
    Generate output matrix；Wherein, the output matrix is the square being made up of the vehicle body roll angle and the front wheel steering angle Battle array；
    According to the output matrix, value of feedback is calculated；
    According to the interference estimate in a upper cycle, and the value of feedback, front-wheel drive torque was calculated.
  8. 8. control system according to claim 7, it is characterised in that the control module is used for according to the output square Battle array, when value of feedback is calculated, is specifically used for：
    The output matrix is multiplied with the first regulation coefficient, obtains the first output matrix；
    After the output matrix is carried out into derivation, it is multiplied with the second regulation coefficient, obtains the second output matrix；
    First output matrix is added with second output matrix, obtains the value of feedback.
  9. 9. control system according to claim 7, it is characterised in that the control module was used for doing according to a upper cycle Estimate, and the value of feedback are disturbed, when front-wheel drive torque is calculated, is specifically used for：
    The value of feedback and the interference estimate in a upper cycle were subtracted each other, obtain front-wheel drive torque.
  10. 10. control system according to claim 6, it is characterised in that the control module is used for the front-wheel drive After torque is output to front-wheel drive motor, it is additionally operable to：
    Front-wheel drive torque is multiplied with transfer function matrix, output adjustment amount is calculated；
    The output matrix and the output adjustment amount are subtracted each other, obtain output adjustment matrix；
    By the output adjustment matrix and interference adjustment matrix multiple, the interference estimate in this cycle is obtained.
CN201710811016.4A 2017-09-11 2017-09-11 The control method and system of a kind of vehicle balance Pending CN107562067A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115489654A (en) * 2022-09-27 2022-12-20 广西汽车集团有限公司 Dynamic self-balancing auxiliary system of bicycle
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Application publication date: 20180109