Multi-axis distributed drive-by-wire platform tracking control method

• Main Authors: ZHANG XIAN, LIU HAITAO, LU YANG, LI YUNXIAO, TANG JING, ZHANG QINGYUN, ZHANG XUEYING, PENG CHUNLEI
• Format: Patent
• Language: Chinese; English
• Published: 29.03.2024
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention relates to a multi-axle distributed drive-by-wire platform autonomous tracking control method, and belongs to the field of multi-axle vehicle control. According to the method, a variable preview distance kinematic model is combined to obtain lateral displacement deviation and course angle deviation of a current state and an expected trajectory of a vehicle, and a geometric motion equation based on a pure tracking algorithm is established; an improved pure tracking tracking control algorithm is designed by taking an equivalent steering angle as a control quantity and considering an association relationship between parameters such as a gain coefficient, a vehicle wheelbase and a preview distance and the actual driving state of the vehicle, so that the motion state of the controlled vehicle better conforms to the actual operation characteristics of a driver, and the tracking control precision and stability are improved. 本发明涉及一种多轴分布式驱动线控平台自主循迹控制方法，属于多轴车辆控制领域。本发明结合了变预瞄距离运动学模型获取车辆当前状态与期望轨迹的侧向位移偏差和航向角偏