CN116902108A - High-speed steering active roll control method and system applied to wheel-leg type vehicle - Google Patents
High-speed steering active roll control method and system applied to wheel-leg type vehicle Download PDFInfo
- Publication number
- CN116902108A CN116902108A CN202311180902.3A CN202311180902A CN116902108A CN 116902108 A CN116902108 A CN 116902108A CN 202311180902 A CN202311180902 A CN 202311180902A CN 116902108 A CN116902108 A CN 116902108A
- Authority
- CN
- China
- Prior art keywords
- wheel
- vehicle
- moment
- leg
- yaw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000004927 fusion Effects 0.000 claims abstract description 10
- 238000013507 mapping Methods 0.000 claims abstract description 7
- 238000005457 optimization Methods 0.000 claims description 21
- 230000001133 acceleration Effects 0.000 claims description 20
- 210000002414 leg Anatomy 0.000 claims description 18
- 238000004422 calculation algorithm Methods 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 6
- 210000004394 hip joint Anatomy 0.000 claims description 5
- 230000008685 targeting Effects 0.000 claims description 5
- 238000000605 extraction Methods 0.000 claims description 4
- 210000000629 knee joint Anatomy 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000005484 gravity Effects 0.000 claims description 2
- 230000009916 joint effect Effects 0.000 abstract 1
- 230000001276 controlling effect Effects 0.000 description 6
- 238000011156 evaluation Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 230000003068 static effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The invention discloses a high-speed steering active roll control method and a system applied to a wheel-leg type vehicle, which relate to the technical field of vehicle control and comprise the following steps: calculating a judgment threshold value of the fusion dynamic stability factor based on the running state parameters of the wheel-leg type vehicle at the current stage; when the judging threshold value is larger than or equal to 0, adopting an active roll control mode and a driving and yaw control mode; the active roll control mode is a mode of obtaining corresponding additional roll moment through dynamic analysis, optimally distributing foot-end vertical force of the wheel-leg type vehicle according to the additional roll moment and mapping the optimally distributed foot-end vertical force to joint moment by combining kinematics; and when the judging threshold value is smaller than 0, adopting a driving and yaw control mode. The invention combines the characteristics of the wheel-leg type vehicle, and actively rolls through the joint action under the working condition of high-speed running steering, thereby adjusting the posture of the vehicle body and improving the high-speed steering stability of the wheel-leg type vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a high-speed steering active roll control method and system applied to a wheel-leg type vehicle.
Background
The wheel leg type vehicle has multi-mode composite driving capability, can be applied to complex terrain environments, meets the requirements of various working conditions, and mainly comprises a structured road and a non-structured road. Under the road condition of the structured road, the wheel-leg type vehicle heavily depends on a distributed driving motor and a leg joint motor to adjust the running posture of the vehicle body.
The steering modes of the wheel leg type vehicle comprise three modes, namely an outer swing joint adjusting steering mode, a steering mechanism and a speed difference steering mode; the steering mechanism is large in required space and high in arrangement cost, and the steering mechanism has the characteristics of compact structure and good steering maneuverability, so that the wheel-leg type vehicle mostly adopts a steering mode of speed difference.
At present, research on high-speed stability of speed differential steering is greatly stopped at a low-speed working condition, research on high-mobility wheel-leg vehicles is less, and two main methods for considering side-tipping risks exist, namely: a static rollover evaluation method and a dynamic rollover evaluation method; the static rollover evaluation method is related to the inherent attribute of the vehicle, and only the condition that the wheels do not leave the ground can be described, and the dynamic rollover evaluation method only considers the influence of topography and dynamics factors. Obviously, the influence of the roll angle on the steering process is not considered in the study of the high-speed stability of differential steering.
Disclosure of Invention
Under the background, the invention aims to provide a high-speed steering active roll control method and a high-speed steering active roll control system applied to a wheel-leg type vehicle, which combine the characteristics of the wheel-leg type vehicle, and actively roll through joint actuation under the working condition of high-speed running steering, so that the posture of a vehicle body is regulated, and the high-speed steering stability of the wheel-leg type vehicle is improved.
In order to achieve the above object, the present invention provides the following solutions:
in a first aspect, the present invention provides a high-speed steering active roll control method for a wheeled leg vehicle, comprising:
acquiring running state parameters of the wheel-leg type vehicle at the current stage, and calculating a judging threshold value of the fusion dynamic stability factor based on the running state parameters of the wheel-leg type vehicle at the current stage;
when the judging threshold value is smaller than 0, adopting a driving and yaw control mode; the driving and yaw control mode is a mode of obtaining an additional yaw moment through a sliding mode control algorithm, optimally distributing the wheel moment according to the additional yaw moment, and controlling longitudinal movement and yaw movement of the wheel-leg vehicle by the optimally distributed wheel moment;
when the judging threshold value is larger than or equal to 0, adopting an active roll control mode and a driving and yaw control mode; the active roll control mode is a mode of obtaining corresponding additional roll moment through dynamic analysis, optimally distributing foot-end vertical force of the wheel-leg type vehicle according to the additional roll moment, and then mapping the optimally distributed foot-end vertical force to joint moment by combining kinematics so as to realize roll attitude control of the vehicle body.
In a second aspect, the present invention provides a high-speed steering active roll control system for use in a wheeled leg vehicle, comprising:
the information extraction module is used for obtaining running state parameters of the wheel-leg type vehicle at the current stage;
the mode switching module is used for calculating a judging threshold value of the fusion dynamic stability factor based on the running state parameters of the wheel-leg type vehicle at the current stage, adopting an active roll control mode and a driving and yaw control mode when the judging threshold value is greater than or equal to 0, and adopting the driving and yaw control mode when the judging threshold value is less than 0;
the active roll control module is used for obtaining corresponding additional roll moment through dynamic analysis, optimally distributing foot-end vertical force of the wheel-leg type vehicle according to the additional roll moment, and then mapping the optimally distributed foot-end vertical force to joint moment by combining kinematics so as to realize control of roll gesture of the vehicle body;
the driving and yaw control module is used for obtaining the additional yaw moment through a sliding mode control algorithm, optimally distributing the wheel moment according to the additional yaw moment, and controlling the longitudinal movement and the yaw movement of the wheel-leg vehicle by the optimally distributed wheel moment.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the determination threshold value of the fusion dynamic stability factor considers three-dimensional stability domains with different longitudinal speeds, yaw rates and roll angles, describes the situation of wheel lift-off, and can better determine whether a vehicle has a tendency of rollover generation compared with a single-use static rollover evaluation method and a single-use dynamic rollover evaluation method, thereby ensuring that the determination of the rollover state can be carried out no matter whether the tire is lifted off the ground.
Meanwhile, the invention adjusts the posture of the vehicle body through leg actuation based on the characteristics of the wheel leg type vehicle, thereby actively generating a certain roll angle. Compared with the technical scheme without considering the roll angle, the coordination control of yaw stability control and active roll control can improve the stability of the vehicle during high-speed steering and prevent the vehicle from turning on one's side.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a high-speed steering active roll control method applied to a wheel-leg vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an implementation of a high-speed steering active roll control system for a wheel-leg vehicle according to an embodiment of the present invention.
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.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
As shown in fig. 1, an embodiment of the present invention provides a high-speed steering active roll control method applied to a wheel-leg vehicle, including:
step 100: and acquiring the running state parameters of the wheel-leg vehicle at the current stage, and calculating a judging threshold value of the fusion dynamic stability factor based on the running state parameters of the wheel-leg vehicle at the current stage.
Step 200: when the judging threshold value is smaller than 0, adopting a driving and yaw control mode; the driving and yaw control mode is a mode of obtaining an additional yaw moment through a sliding mode control algorithm, optimally distributing the wheel moment according to the additional yaw moment, and controlling longitudinal movement and yaw movement of the wheel-leg type vehicle by the optimally distributed wheel moment.
Step 300: when the judging threshold value is larger than or equal to 0, adopting an active roll control mode and a driving and yaw control mode; the active roll control mode is a mode of obtaining corresponding additional roll moment through dynamic analysis, optimally distributing foot-end vertical force of the wheel-leg type vehicle according to the additional roll moment, and then mapping the optimally distributed foot-end vertical force to joint moment by combining kinematics so as to realize roll attitude control of the vehicle body.
In the present embodiment, the running state parameters of the current-stage wheeled leg vehicle include: an actual roll angle speed, an actual yaw angle acceleration, and an actual longitudinal speed.
In this embodiment, the real-time state of the wheel-leg vehicle is obtained through an IMU, a GNSS, a joint encoder, or the like mounted on the wheel-leg vehicle, and the running state parameters of the wheel-leg vehicle are determined in combination with the dynamics model.
In this embodiment, the decision threshold incorporates a static stability factor, a slip steering dynamic stability factor, and a zero moment point, and is calculated as follows:
；
wherein ,for the judgment threshold value of the fusion dynamic stability factor, B is the height of the body of the wheel-leg type vehicle, H r For the track of the wheeled-legged vehicle, m s For the body mass of a wheel-legged vehicle, I x G is gravity acceleration, u, which is the roll-direction moment of inertia of the wheel-leg vehicle b For the actual longitudinal speed of the wheeled-legged vehicle, < >>For the actual roll acceleration of the wheel-legged vehicle,/->、/>、There is no physical meaning, the explanation of which is given in the following formula, < >>Is the speed difference of the wheels at the two sides.
；
；
；
wherein ,Kx K for the longitudinal slip stiffness of a wheeled-legged vehicle y For cornering stiffness of wheeled-legged vehicle, C f C is the camber coefficient of the front axle of the wheel-leg vehicle r The camber coefficient of the rear axle of the wheel-leg vehicle is L, the wheelbase of the wheel-leg vehicle is m n The mass for the entire wheel-legged vehicle includes the body mass, the leg system mass, and the wheel mass.
When the determination threshold is less than 0, the active roll control mode, that is, the drive and yaw control mode is not adopted, and when the determination threshold is greater than or equal to 0, the active roll control mode and the drive and yaw control mode are adopted.
In this embodiment, the wheel-legged vehicle includes a vehicle body, a leg system, and wheels; when the judging threshold value is greater than or equal to 0, an active roll control mode needs to be started; the implementation process of the active roll control mode is as follows:
and acquiring the expected roll angle track of the wheel-leg vehicle at the current stage, and calculating the expected roll angle speed of the wheel-leg vehicle at the current stage according to the expected roll angle track of the wheel-leg vehicle at the current stage.
Determining the vertical force of the foot end after optimization and distribution according to the actual roll angle speed of the wheel-leg vehicle at the current stage, the expected roll angle speed of the wheel-leg vehicle at the current stage, a first objective function and constraint conditions corresponding to the first objective function; the foot end vertical force after the optimization and the distribution comprises the vertical force of the left front wheel end after the optimization and the distribution, the vertical force of the left rear wheel end after the optimization and the distribution, the vertical force of the right front wheel end after the optimization and the vertical force born by the right rear wheel end after the optimization and the distribution; the first objective function is a function which minimizes foot-end vertical force; the constraint condition includes a condition that a vertical force of the left front wheel end is equal to a vertical force of the right front wheel end, and a condition that a vertical force of the left rear wheel end is equal to a vertical force of the right rear wheel end.
The optimized and distributed foot end vertical force is converted into hip joint moment and knee joint moment by combining the kinematics of the leg system and utilizing the Jacobian matrix, and the roll gesture of the vehicle body is controlled according to the hip joint moment and the knee joint moment.
The active roll control method according to the present embodiment will be described in detail below.
Research on a vehicle instability mechanism influenced by vehicle speed, yaw rate, adhesion coefficient and other variable driving factors is carried out, the variation trend of the key response of the vehicle stability under the action of different driving factors is analyzed, ideal roll angles under different working conditions are obtained by carrying out a large number of simulations under the conditions of different vehicle speeds, yaw rates and adhesion coefficients, fitting is carried out, a table look-up mechanism is established, and a proper and referenceable steady-state roll angle is provided for an active roll control mode。
To prevent abrupt change of the reference trajectory and to ensure rolling motion of the vehicle body at a predetermined time T rt Internal stabilization to desired roll angleBased on the polynomial method, a roll angle trajectory of the vehicle body reference is planned>The calculation mode is as follows:
；
wherein ,a0 ，a 1 ，a 2 ，a 3 ，a 4 And respectively obtaining undetermined coefficients, and solving by substituting the following constraint conditions.
；
；
；
；
；
wherein ,for the actual roll angle of the body at the present moment, +.>For the actual roll angle speed at the present moment, +.>Is T rt Desired roll angle of moment +.>Is T rt Desired roll rate of moment, +.>Is T rt Desired roll acceleration at time.
The roll angle of a wheel-legged vehicle is given by:
；
wherein ,for the actual roll angle speed of the wheel-legged vehicle, and (2)>For the actual roll acceleration of the wheel-legged vehicle,/->For the lateral speed of a wheeled-legged vehicle, +.>The vertical forces applied to the left front wheel end, the left rear wheel end, the right front wheel end and the right rear wheel end of the wheel-legged vehicle are respectively applied.
When the wheel-legged vehicle is turning at a high speed, the upper controller will switch to the wheel-legged mode to control the roll motion of the wheel-legged vehicle to a desired attitude within certain limits. Wherein the additional roll momentCan be obtained by the following formula:
；
wherein ,for the desired roll acceleration of a wheel-legged vehicle, the state variable is selected to be +.>The control amount is selected to be +.>The state space equation available from the above equation is:
；
wherein ,is X LS Is a derivative of (a) representing the difference between the desired roll acceleration of the legged vehicle and the actual roll acceleration of the legged vehicle,/->，/>。
Since the pitching motion and the vertical motion of the wheel-legged vehicle are not considered, the vertical forces of the front wheel end and the rear wheel end on the two sides are equal, the optimization goal is to minimize the vertical force, the following optimization problem is solved through a quadratic programming method, and the expected control quantity is distributed to the four leg systems.
The first objective function and the corresponding constraint conditions are:
；
wherein ,JLS For the target value to be a target value,representing the form of a binary norm>Is a first weight factor.
Finally combining the kinematics of the leg system, the optimally distributed foot end vertical force can be converted into hip joint moment by utilizing the Jacobian matrixAnd knee moment->And according to hip moment->And knee moment->And controlling the roll attitude of the vehicle body.
In this embodiment, when the decision threshold is smaller than 0, a driving and yaw control method is adopted, which specifically includes:
acquiring expected yaw acceleration of the wheel-leg vehicle at the current stage;
determining an additional yaw moment of the wheel-leg vehicle at the current stage by adopting a sliding mode control algorithm according to the expected yaw acceleration of the wheel-leg vehicle at the current stage and the actual yaw acceleration of the wheel-leg vehicle at the current stage;
optimally distributing the wheel moment according to the additional yaw moment and the second objective function, and controlling the longitudinal movement and the yaw movement of the wheel-leg vehicle by the optimally distributed wheel moment; the second objective function is a function constructed based on a minimum tracking error optimization function and a minimum road surface attachment utilization optimization function.
The driving and yaw control modes described in this embodiment are described in detail below.
The sliding mode control method controls the driving yaw stability, and the definition of the sliding mode surface s is as follows:
；
wherein ,for the desired yaw rate +.>For the actual yaw rate +.>Is a weight coefficient; />For the time the controller has been running.
The sliding mode surface s is derived as follows:
；
wherein ,is the derivative of the slip form s, +.>For a desired yaw acceleration, L f For the front half wheelbase of a wheel-legged vehicle, I z Is the moment of inertia of the yaw,L r for the rear half-axle distance of a wheel-legged vehicle, < >>The left front wheel end, the left rear wheel end, the right front wheel end and the right rear wheel end of the wheel-leg type vehicle are respectively subjected to transverse forces, < ->Is a weight coefficient>Desired yaw track for the current stage wheel-legged vehicle,/->An actual yaw path for the current stage wheel-legged vehicle.
Additional yaw momentThe following are provided:
；
wherein ,，/>all are switch gain->Is a saturation function defined as:
；
wherein ,for boundary thickness, the slip form reaches the following rule:
；
invoking Lyapunov (Lyapunov) functionIt can be deduced that:
；
wherein ,is a self-selected Lyapunov (Lyapunov) function, when +.>，/>And when the sliding mode control rules are smaller than zero, the sliding mode control rules are converged according to the equation.
The motor control of the vehicle driving system adopts torque control, and the torque distribution is realized by different optimization targets. When the same longitudinal requirement and transverse requirement are met, the minimum pavement adhesion utilization rate can provide the maximum adhesion margin, the tire is far away from the nonlinear saturation region, and the stability of the vehicle is indirectly improved. In this section, the optimization objective of minimum error and minimum road adhesion utilization is selected and a quadratic programming algorithm is employed to distribute the wheel torque. The desired control amount is generated by slip-mode control:and the desired output is，/>For the left front wheel moment of a wheel-legged vehicle,/->For the moment of the right front wheel of a wheel-legged vehicle, < >>For the left rear wheel moment of a wheel-legged vehicle,/->The right rear wheel moment of the wheel leg type vehicle is as follows:
；
wherein ,is a coefficient matrix->Is the wheel radius and, depending on the form of optimal control, the cost function targeting the minimum error can be determined as:
；
wherein ,for the actual output +.>，/>Is a second weight factor.
The drive torque is allocated to the target in a sum of minimized four wheel road surface adhesion utilization based on the principle of the tire friction ellipse. I.e. the objective function can be expressed as:
；
wherein ,is a constant coefficient matrix, < >>Is the ground friction coefficient.
The standard form of the above formula is:
；
wherein ,for the third weight factor, in combination with two optimization objectives, torque distribution can be obtained by solving the following problem.
。
wherein ,a cost function targeting a minimum error; />A cost function targeting minimum road surface adhesion utilization; />Is the minimum actual output; />Is the maximum actual output.
Example two
In order to perform a corresponding method of the above-described embodiments to achieve the corresponding functions and technical effects, a high-speed steering active roll control applied to a wheel-legged vehicle is provided below.
The present embodiment provides a high-speed steering active roll control system applied to a wheel-legged vehicle. As shown in FIG. 2, the control system adopts a layered parallel control method and mainly comprises an information extraction module, a mode switching module, an active roll control module and a driving and yaw control module. The system mainly surrounds the mode switching module, the active roll control module and the driving and yaw control module, can judge whether the active roll controller is activated or not through the judgment threshold value in the high-speed running steering process of the wheel-leg type vehicle, controls and adjusts the roll angle of the vehicle body, realizes the stable steering of the vehicle, ensures the steering capability of the vehicle under the condition of being attached to a road surface on a low road surface, and improves the maneuverability and flexibility of the wheel-leg type vehicle.
The present embodiment provides a high-speed steering active roll control system applied to a wheel-leg vehicle, including:
the information extraction module is used for obtaining running state parameters of the wheel-leg type vehicle at the current stage, such as: longitudinal vehicle speed, steering radius of curvature, etc., provide upper level information for active roll control.
The mode switching module is used for calculating a judging threshold value of the fusion dynamic stability factor based on the running state parameters of the wheel-leg type vehicle at the current stage, adopting an active roll control mode and a driving and yaw control mode when the judging threshold value is greater than or equal to 0, and adopting the driving and yaw control mode when the judging threshold value is less than 0; the mode switching module can judge whether the wheel-leg type vehicle has a tilting trend or not, provides a reference for switching the state of the wheel-leg type vehicle controller, and actively activates the active roll controller when the judging threshold value of the fused dynamic stability factor exceeds the stability domain.
The active roll control module is used for obtaining corresponding additional roll moment through dynamic analysis, optimally distributing foot-end vertical force of the wheel-leg type vehicle according to the additional roll moment, and then mapping the optimally distributed foot-end vertical force to joint moment by combining kinematics so as to control the roll gesture of the vehicle body.
The driving and yaw control module is used for obtaining the additional yaw moment through a sliding mode control algorithm, optimally distributing the wheel moment according to the additional yaw moment, and controlling the longitudinal movement and the yaw movement of the wheel-leg vehicle by the optimally distributed wheel moment.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (8)
1. A high-speed steering active roll control method applied to a wheel-legged vehicle, comprising:
acquiring running state parameters of the wheel-leg type vehicle at the current stage, and calculating a judging threshold value of the fusion dynamic stability factor based on the running state parameters of the wheel-leg type vehicle at the current stage;
when the judging threshold value is smaller than 0, adopting a driving and yaw control mode; the driving and yaw control mode is a mode of obtaining an additional yaw moment through a sliding mode control algorithm, optimally distributing the wheel moment according to the additional yaw moment, and controlling longitudinal movement and yaw movement of the wheel-leg vehicle by the optimally distributed wheel moment;
when the judging threshold value is larger than or equal to 0, adopting an active roll control mode and a driving and yaw control mode; the active roll control mode is a mode of obtaining corresponding additional roll moment through dynamic analysis, optimally distributing foot-end vertical force of the wheel-leg type vehicle according to the additional roll moment, and then mapping the optimally distributed foot-end vertical force to joint moment by combining kinematics so as to realize roll attitude control of the vehicle body.
2. The high-speed steering active roll control method applied to a wheel-legged vehicle according to claim 1, wherein the running state parameters of the wheel-legged vehicle of the current stage include: an actual roll angle speed, an actual yaw angle acceleration, and an actual longitudinal speed.
3. The high-speed steering active roll control method applied to a wheel-legged vehicle according to claim 1, wherein the calculation formula of the determination threshold value fused with the dynamic stability factor is:
；
wherein ,for the judgment threshold value of the fusion dynamic stability factor, B is the height of the body of the wheel-leg type vehicle, H r For the track of the wheeled-legged vehicle, m s For the body mass of a wheel-legged vehicle, I x G is gravity acceleration, u, which is the roll-direction moment of inertia of the wheel-leg vehicle b For the actual longitudinal speed of the wheeled-legged vehicle, < >>For the actual roll acceleration of the wheel-legged vehicle,/->Is the speed difference of wheels at two sides;
；
；
；
wherein ,Kx K for the longitudinal slip stiffness of a wheeled-legged vehicle y For cornering stiffness of wheeled-legged vehicle, C f C is the camber coefficient of the front axle of the wheel-leg vehicle r The camber coefficient of the rear axle of the wheel-leg vehicle is L, the wheelbase of the wheel-leg vehicle is m n Is the mass of the entire wheel-legged vehicle.
4. A high-speed steering active roll control method applied to a wheel-legged vehicle according to claim 2, wherein the wheel-legged vehicle includes a body, a leg system, and wheels; the implementation process of the active roll control mode is as follows:
acquiring a desired roll angle track of the wheel-leg vehicle at the current stage, and calculating the desired roll angle speed of the wheel-leg vehicle at the current stage according to the desired roll angle track of the wheel-leg vehicle at the current stage;
determining the vertical force of the foot end after optimization and distribution according to the actual roll angle speed of the wheel-leg vehicle at the current stage, the expected roll angle speed of the wheel-leg vehicle at the current stage, a first objective function and constraint conditions corresponding to the first objective function; the foot end vertical force after the optimization and the distribution comprises the vertical force of the left front wheel end after the optimization and the distribution, the vertical force of the left rear wheel end after the optimization and the distribution, the vertical force of the right front wheel end after the optimization and the vertical force born by the right rear wheel end after the optimization and the distribution; the first objective function is a function which minimizes foot-end vertical force; the constraint conditions comprise the condition that the vertical force of the left front wheel end is equal to the vertical force of the right front wheel end, and the condition that the vertical force of the left rear wheel end is equal to the vertical force of the right rear wheel end;
the optimized and distributed foot end vertical force is converted into hip joint moment and knee joint moment by combining the kinematics of the leg system and utilizing the Jacobian matrix, and the roll gesture of the vehicle body is controlled according to the hip joint moment and the knee joint moment.
5. The method of claim 4, wherein the first objective function and the corresponding constraint are:
；
wherein ,JLS As a function of the first object function,representing a binary norm form; />Is a first weight factor; x is X LS As a state variable, a state variable is used,，/>for the actual roll angle speed of the wheel-legged vehicle, and (2)>Desired roll angle speed for a wheeled-legged vehicle; />；/>B is the height of the body of the wheel-leg type vehicle, I x The moment of inertia in the roll direction of the wheel-legged vehicle; />Is X LS And (b) a derivative representing a difference between a desired roll acceleration of the wheel-legged vehicle and an actual roll acceleration of the wheel-legged vehicle; u (U) LS As a state variable, a state variable is used,，/>the vertical forces applied to the left front wheel end, the left rear wheel end, the right front wheel end and the right rear wheel end of the wheel-legged vehicle are respectively applied.
6. The method for high-speed steering active roll control for a wheeled leg vehicle according to claim 1, wherein the driving and yaw control is implemented as follows:
acquiring expected yaw acceleration of the wheel-leg vehicle at the current stage;
determining an additional yaw moment of the wheel-leg vehicle at the current stage by adopting a sliding mode control algorithm according to the expected yaw acceleration of the wheel-leg vehicle at the current stage and the actual yaw acceleration of the wheel-leg vehicle at the current stage;
optimally distributing the wheel moment according to the additional yaw moment and the second objective function, and controlling the longitudinal movement and the yaw movement of the wheel-leg vehicle by the optimally distributed wheel moment; the second objective function is a function constructed based on a minimum tracking error optimization function and a minimum road surface attachment utilization optimization function.
7. The method of claim 6, wherein the second objective function and the corresponding constraint are:
；
；
；
wherein ,a cost function targeting a minimum error; />A cost function targeting minimum road surface adhesion utilization; />Is the minimum actual output; />Is the maximum actual output; />In order for the actual output to be a function of,，/>for the left front wheel moment of a wheel-legged vehicle,/->For the moment of the right front wheel of a wheel-legged vehicle, < >>For the left rear wheel moment of a wheel-legged vehicle,/->Right rear wheel moment of the wheel-leg vehicle; />The matrix is a coefficient matrix, and B is the height of the body of the wheel-leg type vehicle; />For the desired control quantity->，/>Is an additional yaw moment; />Is a second weight factor; t is the transpose; />Is a third weight factor.
8. A high-speed steering active roll control system for a wheeled leg vehicle, comprising:
the information extraction module is used for obtaining running state parameters of the wheel-leg type vehicle at the current stage;
the mode switching module is used for calculating a judging threshold value of the fusion dynamic stability factor based on the running state parameters of the wheel-leg type vehicle at the current stage, adopting an active roll control mode and a driving and yaw control mode when the judging threshold value is greater than or equal to 0, and adopting the driving and yaw control mode when the judging threshold value is less than 0;
the active roll control module is used for obtaining corresponding additional roll moment through dynamic analysis, optimally distributing foot-end vertical force of the wheel-leg type vehicle according to the additional roll moment, and then mapping the optimally distributed foot-end vertical force to joint moment by combining kinematics so as to realize control of roll gesture of the vehicle body;
the driving and yaw control module is used for obtaining the additional yaw moment through a sliding mode control algorithm, optimally distributing the wheel moment according to the additional yaw moment, and controlling the longitudinal movement and the yaw movement of the wheel-leg vehicle by the optimally distributed wheel moment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311180902.3A CN116902108B (en) | 2023-09-14 | 2023-09-14 | High-speed steering active roll control method and system applied to wheel-leg type vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311180902.3A CN116902108B (en) | 2023-09-14 | 2023-09-14 | High-speed steering active roll control method and system applied to wheel-leg type vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116902108A true CN116902108A (en) | 2023-10-20 |
| CN116902108B CN116902108B (en) | 2023-12-05 |
Family
ID=88351528
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311180902.3A Active CN116902108B (en) | 2023-09-14 | 2023-09-14 | High-speed steering active roll control method and system applied to wheel-leg type vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116902108B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101394974A (en) * | 2006-03-01 | 2009-03-25 | 丰田自动车株式会社 | Legged robot |
| CN108694283A (en) * | 2018-05-15 | 2018-10-23 | 北京理工大学 | A kind of forecast Control Algorithm and system for improving electric vehicle lateral stability |
| CN109204317A (en) * | 2018-07-24 | 2019-01-15 | 吉林大学 | Wheel hub drives electric car longitudinal and transverse and vertical force integrated control optimization method |
| CN109292019A (en) * | 2018-09-13 | 2019-02-01 | 吉林大学 | All-terrain vehicle active body gesture control method based on coaxial-type wheel leg structure |
| CN110606079A (en) * | 2019-09-18 | 2019-12-24 | 北京理工大学 | Layered control vehicle rollover prevention method and multi-shaft distributed driving vehicle |
| CN116252858A (en) * | 2023-03-14 | 2023-06-13 | 上海交通大学 | Roll steering control method and device |
-
2023
- 2023-09-14 CN CN202311180902.3A patent/CN116902108B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101394974A (en) * | 2006-03-01 | 2009-03-25 | 丰田自动车株式会社 | Legged robot |
| CN108694283A (en) * | 2018-05-15 | 2018-10-23 | 北京理工大学 | A kind of forecast Control Algorithm and system for improving electric vehicle lateral stability |
| CN109204317A (en) * | 2018-07-24 | 2019-01-15 | 吉林大学 | Wheel hub drives electric car longitudinal and transverse and vertical force integrated control optimization method |
| CN109292019A (en) * | 2018-09-13 | 2019-02-01 | 吉林大学 | All-terrain vehicle active body gesture control method based on coaxial-type wheel leg structure |
| CN110606079A (en) * | 2019-09-18 | 2019-12-24 | 北京理工大学 | Layered control vehicle rollover prevention method and multi-shaft distributed driving vehicle |
| CN116252858A (en) * | 2023-03-14 | 2023-06-13 | 上海交通大学 | Roll steering control method and device |
Non-Patent Citations (1)
| Title |
|---|
| 韩子勇等: "摇臂悬挂机动平台运动姿态调节最优控制研究", 兵工学报, vol. 40, no. 11, pages 2184 - 2194 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116902108B (en) | 2023-12-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111890951B (en) | Intelligent electric automobile trajectory tracking and motion control method | |
| JP5571519B2 (en) | Body posture control device | |
| CN110395120A (en) | A kind of weaving control method of four-wheel distribution driving car | |
| CN110696793B (en) | Intelligent vehicle layered control method combining four-wheel steering and differential braking | |
| CN111923908A (en) | Stability-fused intelligent automobile path tracking control method | |
| CN109291932B (en) | Feedback-based electric vehicle yaw stability real-time control device and method | |
| CN112572411B (en) | Vehicle chassis coordination control method and system considering tire cornering characteristic | |
| CN111731268B (en) | Vehicle rollover prevention control method considering different driver characteristics | |
| CN111391595A (en) | Vehicle rollover prevention active tilt model prediction control method | |
| CN112606826B (en) | State variable full-constraint direct yaw moment control algorithm based on road adhesion coefficient | |
| Xie et al. | Integrated dynamics control system with ESC and RAS for a distributed electric vehicle | |
| CN112373459B (en) | Method for controlling upper-layer motion state of four-hub motor-driven vehicle | |
| CN112109732A (en) | Intelligent driving self-adaptive curve pre-aiming method | |
| CN112406854A (en) | Method for controlling side-tipping stability of wheel hub motor-driven off-road vehicle | |
| Li et al. | Adaptive sliding mode control of lateral stability of four wheel hub electric vehicles | |
| JP2008143259A (en) | Driving/braking force control unit, automobile, and driving/braking force control method | |
| CN113978450B (en) | Anti-roll commercial vehicle path tracking game control method | |
| CN116902108B (en) | High-speed steering active roll control method and system applied to wheel-leg type vehicle | |
| JP4263043B2 (en) | Left-right wheel load difference relation calculation method, load difference control device, and vehicle control device | |
| CN113306545B (en) | Vehicle trajectory tracking control method and system | |
| Li et al. | Four-wheel independently driven in-wheel motors electric vehicle AFS and DYC integrated control | |
| CN114889446A (en) | Method and device for distributing torque vectors in two directions of cross-country vehicle and storage medium | |
| CN114194202A (en) | Vehicle stable state judgment method based on phase plane, chassis coordination control method and system | |
| CN114801781A (en) | Fuzzy-sliding mode composite control system of four-wheel drive AFS/DYC integrated control system | |
| Yoshino et al. | About the effect of camber control on vehicle dynamics |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |