CN113859233B - Track keeping method under steering and braking working conditions of bilateral independent electric drive tracked vehicle - Google Patents
Track keeping method under steering and braking working conditions of bilateral independent electric drive tracked vehicle Download PDFInfo
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- CN113859233B CN113859233B CN202111103559.3A CN202111103559A CN113859233B CN 113859233 B CN113859233 B CN 113859233B CN 202111103559 A CN202111103559 A CN 202111103559A CN 113859233 B CN113859233 B CN 113859233B
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000002146 bilateral effect Effects 0.000 title claims abstract description 10
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 230000009467 reduction Effects 0.000 claims abstract description 4
- 230000000994 depressogenic effect Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims 2
- 230000001105 regulatory effect Effects 0.000 abstract description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/44—Tracked vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The invention provides a track keeping method under the steering braking working condition of a bilateral independent electric drive tracked vehicle, which comprises the following steps: monitoring the curvature of a running path of the target tracked vehicle; monitoring the curvature of the running path and the running speed of the crawler after the speed reduction; determining the speed of the inner side after deceleration and the speed of the outer side after deceleration; determining a target inside vehicle speed and a target outside vehicle speed; determining the internal and external torque according to a variable parameter PI based on the difference value between the internal and external vehicle speeds after the crawler is decelerated and the target internal and external vehicle speeds and the internal and external vehicle speeds after the crawler is decelerated; the crawler is controlled based on the determined medial-lateral torque. The running curvature is regulated by adopting a closed-loop control mode, and the torque of driving motors at two sides is controlled to be intervened in the steering braking working condition. Under the steering braking working condition, the bilateral independent electric drive tracked vehicle utilizes motor torque compensation to ensure that the running track is consistent with that before deceleration, thereby effectively assisting a driver in running and improving the driving smoothness.
Description
Technical Field
The invention relates to the field of control methods of tracked vehicles, in particular to a track keeping method under a steering braking working condition of a bilateral independent electric drive tracked vehicle.
Background
Under the steering working condition, if the crawler of the bilateral independent electric drive crawler is braked to reduce the speed of the crawler, the crawler cannot run according to a preset track, namely the running curvature of the crawler is changed under the braking working condition, which is not consistent with the expectation that a driver only reduces the speed of the crawler without changing the running track.
In summary, how to make the crawler of the double-sided independent electrically driven crawler travel according to the predetermined track under the steering braking condition is a problem to be solved by those skilled in the art.
Disclosure of Invention
Therefore, the invention aims to provide a track keeping method under the steering braking working condition of the double-sided independent electric drive tracked vehicle, and the tracked vehicle can run according to a preset track under the steering braking working condition.
In order to achieve the above object, the present invention provides the following technical solutions:
the track keeping method under the steering and braking working conditions of the bilateral independent electric drive tracked vehicle comprises the following steps:
monitoring the curvature of a running path of the target tracked vehicle;
monitoring the curvature of the running path of the tracked vehicle after deceleration;
determining a running speed and determining a speed of the inner side after deceleration and a speed of the outer side after deceleration;
determining a target inside vehicle speed and a target outside vehicle speed;
determining the internal and external torque according to a variable parameter PI based on the difference value between the internal and external vehicle speeds after the crawler is decelerated and the target internal and external vehicle speeds and the internal and external vehicle speeds after the crawler is decelerated;
the crawler is controlled based on the determined medial-lateral torque.
In some preferred embodiments, the target crawler travel path curvature is monitored and the target inboard and outboard vehicle speeds are determined, specifically:
and under the steering working condition, when the brake pedal is depressed, the curvature of the track vehicle running path is recorded as the curvature of the target track vehicle running path.
In some preferred embodiments, determining the post-deceleration inboard actual vehicle speed and the post-deceleration outboard actual vehicle speed is specifically:
according to the expression: v Outer part ＝(1/ρ+B/2)*v/(1/ρ)；v Inner part Determination of the post-deceleration outboard vehicle speed v = (1/ρ -B/2) ×v/(1/ρ) Outer part And the inner vehicle speed v after deceleration Inner part Wherein ρ is the curvature of the track path of the tracked vehicle after deceleration, B is the center distance of the track, and v is the speed of the vehicle.
In some preferred embodiments, the determination of the post-deceleration inside target vehicle speed and the post-deceleration outside target vehicle speed with the pre-deceleration running curvature as the target is specifically:
according to the expression: v' Outer part ＝(1/ρ 0 +B/2)*v/(1/ρ 0 )；v′ Inner part ＝(1/ρ 0 -B/2)*v/(1/ρ 0 ) Determining the target outside vehicle speed v' Outer part And a target inside vehicle speed v' Inner part Wherein ρ is 0 The curvature of the running path of the target tracked vehicle is represented by a track center distance, and the running speed is represented by v.
In some preferred embodiments, the difference between the vehicle speed of the inner side and the vehicle speed of the outer side of the steering is determined as follows: according to the expression:
△ outer part ＝v Outer part -v′ Outer part ＝(ρ-ρ 0 )*BV/2；△ Inner part ＝v Inner part -v′ Inner part ＝(ρ0-ρ)*BV/2
Determining the outboard speed differential from the target speed differential Outer part And inner velocity is less than the target velocity difference Inner part ，v Outer part For decelerating the rear outer vehicle speed and v Inner part For decelerating the inner vehicle speed v' Outer part For the target outboard vehicle speed and v' Inner part Target inside vehicle speed ρ 0 The curvature of the track vehicle is the curvature of the track vehicle running path after speed reduction, wherein ρ is the running speed, v is the running speed, B is the track center distance, and v is the running speed.
In some preferred embodiments, the internal and external torque is determined according to a variable parameter PI method based on the difference value between the internal and external vehicle speed after the crawler is decelerated and the target internal and external vehicle speed, specifically:
according to the expression:
T outer part ＝K p (v Outer part )△ Outer part +K i (v Outer part )∫△ Outer part dt；T Inner part ＝K p (v Inner part )△ Inner part +K i (v Inner part )∫△ Inner part dt；
Determining the outboard torque T Outer part And medial side torque T Inner part Wherein v is Outer part For decelerating the rear outer vehicle speed and v Inner part For decelerating the vehicle inside Outer part Delta for outboard speed and target speed difference Inner part Kp is a proportional parameter to be set, ki is an integral coefficient to be set, and t is time.
The invention has the beneficial effects and advantages that:
the running curvature is regulated by adopting a closed-loop control mode, and the torque of driving motors at two sides is controlled to be intervened in the steering braking working condition. Under the steering and braking working conditions, the crawler of the bilateral independent electric drive crawler utilizes motor torque compensation to ensure that the running track is consistent with that before deceleration, thereby effectively assisting the driver in running and improving the driving smoothness.
Drawings
Fig. 1: the invention provides a flow chart of a track keeping method.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the track keeping method under the steering braking condition of the double-sided independent electrically-driven tracked vehicle comprises the following steps:
monitoring the curvature of a running path of the target tracked vehicle;
monitoring the curvature of the running path and the running speed of the crawler after the speed reduction;
determining the speed of the inner side after deceleration and the speed of the outer side after deceleration;
determining a target inside vehicle speed and a target outside vehicle speed;
determining the internal and external torque according to a variable parameter PI based on the difference value between the internal and external vehicle speeds after the crawler is decelerated and the target internal and external vehicle speeds and the internal and external vehicle speeds after the crawler is decelerated;
the crawler is controlled based on the determined medial-lateral torque.
It is noted that in the sense of the present invention, the determination is determined and calculated from the relationship. The steps of determining the inner vehicle speed after deceleration and the outer vehicle speed after deceleration and determining the target inner vehicle speed and the target outer vehicle speed are not sequential.
The bilateral independent electric drive tracked vehicle is independently driven by a left motor and a right motor; under the steering braking working condition, the motor does not provide driving torque, and the hydraulic braking system provides the same braking torque for the tracks on two sides; this results in a decrease in vehicle speed and a change in the running curvature, thereby changing the running trajectory. The running curvature is regulated by adopting a closed-loop control mode, the torques of driving motors at two sides are controlled, the torques of the driving motors are caused to intervene in the steering braking working condition, and the running track is corrected.
Further, the curvature of the driving path of the target tracked vehicle is monitored, and the target inside vehicle speed and the target outside vehicle speed are determined, specifically:
and under the steering working condition, when the brake pedal is depressed, the curvature of the track vehicle running path is recorded as the curvature of the target track vehicle running path. The embodiment of the invention is that the time point when the brake pedal is stepped on is monitored through the brake pedal signal monitoring module, and is fed back to the travel path curvature monitoring module, so that the curvature of the travel path of the crawler at the moment is recorded.
Under the steering working condition, the curvature of the track vehicle running path when the brake pedal is stepped on is the curvature of the track vehicle running path when the braking starts, the curvature of the track vehicle running path is marked as the curvature of the target track vehicle running path, and the purpose of adjusting the curvature of the target track vehicle running path is to keep the braking unchanged before and after the braking, so that the running track before and after the braking is not changed.
Further, the determination of the post-deceleration inside vehicle speed and the post-deceleration outside vehicle speed is specifically:
according to the expression: v Outer part ＝(1/ρ+B/2)*v/(1/ρ)；v Inner part Determination of the post-deceleration outboard vehicle speed v = (1/ρ -B/2) ×v/(1/ρ) Outer part And the inner vehicle speed v after deceleration Inner part Wherein ρ is the curvature of the track path of the tracked vehicle after deceleration, B is the center distance of the track, and v is the speed of the vehicle.
Further, the determination of the post-deceleration inside vehicle speed and the post-deceleration outside vehicle speed is specifically:
according to the expression: v' Outer part ＝(1/ρ 0 +B/2)*v/(1/ρ 0 )；v′ Inner part ＝(1/ρ 0 -B/2)*v/(1/ρ 0 ) Determining the target outside vehicle speed v' Outer part And a target inside vehicle speed v' Inner part Wherein ρ is 0 The curvature of the running path of the target tracked vehicle is represented by a track center distance, and the running speed is represented by v.
Further, calculating the difference between the steering inner and outer side speeds and the target speed of the crawler:
△ outer part ＝v Outer part -v′ Outer part ＝(ρ-ρ 0 )*BV/2；△ Inner part ＝v Inner part -v′ Inner part ＝(ρ 0 -ρ)*BV/2
When (delta) Outer part Or Inner part When the speed is greater than 0, the corresponding side caterpillar needs to be controlled to reduce the speed; when (delta) Outer part Or Inner part When the inner is smaller than 0, the corresponding side caterpillar is required to be controlled to accelerate.
Determining the internal and external torque based on the difference between the internal and external vehicle speed after the crawler is decelerated and the target internal and external vehicle speed and the internal and external vehicle speed after the crawler is decelerated according to a variable parameter PI method,
according to the expression:
T outer part ＝K p (v Outer part )△ Outer part +K i (v Outer part )∫△ Outer part dt；T Inner part ＝K p (v Inner part )△ Inner part +K i (v Inner part )∫△ Inner part dt；
Determining the outboard torque T Outer part And medial side torque T Inner part Wherein Kp is a proportional parameter to be set, ki is an integral coefficient to be set, t is time, and specifically is time of torque control intervention of the patent after braking is stepped. Wherein K is p And K i As a function of the speed, which is determined during the actual adjustment process, a corresponding torque setpoint can be output via the variable-parameter PI regulator.
The above description of the embodiments is only for aiding in the understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (2)
1. The track keeping method under the steering braking working condition of the double-side independent electric drive tracked vehicle is characterized by comprising the following steps of:
monitoring the curvature of a running path of the target tracked vehicle;
monitoring the curvature of the running path and the running speed of the crawler after the speed reduction;
determining the speed of the inner side after deceleration and the speed of the outer side after deceleration;
determining a target inside vehicle speed and a target outside vehicle speed;
determining the internal and external torque according to a variable parameter PI based on the difference value between the internal and external vehicle speeds after the crawler is decelerated and the target internal and external vehicle speeds and the internal and external vehicle speeds after the crawler is decelerated;
controlling the crawler based on the determined medial-lateral torque;
the method for determining the actual vehicle speed of the inner side after deceleration and the actual vehicle speed of the outer side after deceleration comprises the following steps:
according to the expression: voutside= (1/ρ+b/2) v/(1/ρ); v = (1/ρ -B/2) v/(1/ρ)
Determining an outside vehicle speed v after deceleration and an inside vehicle speed v after deceleration, wherein ρ is the curvature of a traveling path of the crawler after deceleration, B is the center distance of the crawler, and v is the traveling speed;
the method for determining the target vehicle speed of the inner side after deceleration and the target vehicle speed of the outer side after deceleration by taking the curvature of the running before deceleration as a target comprises the following specific steps:
according to the expression: v' outside= (1/ρ 0+B/2) v/(1/ρ0); v' inner= (1/ρ0-B/2) ×v/(1/ρ0)
Determining an outer target vehicle speed v 'and an inner target vehicle speed v', wherein ρ0 is the curvature of a running path of the target crawler, B is the center distance of the crawler, and v is the running speed;
according to the actual vehicle speed and the target vehicle speed at the inner side and the outer side of the steering, determining the difference value between the vehicle speeds at the inner side and the outer side of the steering is as follows: according to the expression:
Δoutside=v outside-v 'outside= (ρ - ρ0) BV/2, Δinside=v inside-v' inside= (ρ0- ρ) BV/2
Determining the difference delta between the outer speed and the target speed, the difference delta between the inner speed and the target speed, wherein v is the outer speed after deceleration and v is the inner speed after deceleration, v 'is the outer speed after deceleration and v' is the inner speed after deceleration, ρ0 is the curvature of the driving path of the target crawler, ρ is the curvature of the driving path of the crawler after deceleration, v is the driving speed, B is the center distance of the crawler, and v is the driving speed;
the method for determining the internal and external torque based on the difference value between the internal and external vehicle speed after the crawler is decelerated and the target internal and external vehicle speed and the internal and external vehicle speed after the crawler is decelerated according to the variable parameter PI specifically comprises the following steps:
according to the expression:
outer = Kp (outer v) Δouter + Ki (outer v) ΣΔ outer dt; T interior = Kp (v interior) Δinterior + Ki (v interior) jjΔinterior dt;
and determining an outer side torque Touter and an inner side torque Tinner, wherein vouter is the outer side speed after deceleration and vinner is the inner side speed after deceleration, delta outer is the difference between the outer side speed and the target speed, delta inner is the difference between the inner side speed and the target speed, kp is a proportional parameter to be set, ki is an integral coefficient to be set, and T is time.
2. The track maintenance method under the steering braking condition of the bilateral independent electric driven tracked vehicle according to claim 1, wherein the track maintenance method monitors the curvature of the driving path of the target tracked vehicle and determines the target inside vehicle speed and the target outside vehicle speed, specifically comprises the following steps:
and under the steering working condition, when the brake pedal is depressed, the curvature of the track vehicle running path is recorded as the curvature of the target track vehicle running path.
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| CN114919647B (en) * | 2022-05-18 | 2023-03-14 | 北京市农林科学院智能装备技术研究中心 | Steering efficiency calibration method and device for guide wheel |
| CN114661035B (en) * | 2022-05-25 | 2022-08-05 | 江苏英拓动力科技有限公司 | Unmanned tracked vehicle direction control testboard |
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| JP3013179B1 (en) * | 1999-06-14 | 2000-02-28 | ヤンマー農機株式会社 | Traveling equipment for mobile farm machines |
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