CN-121291134-B - Moment control method, system, equipment and medium in differential steering process

CN121291134BCN 121291134 BCN121291134 BCN 121291134BCN-121291134-B

Abstract

The application discloses a torque control method, a system, equipment and a medium in the differential steering process, and belongs to the technical field of automatic control technology. The torque control method in the differential steering process comprises the steps of obtaining the running speed, steering wheel angle and angle change rate of a vehicle in the differential steering process of the vehicle, generating torque proportion information according to the running speed, the steering wheel angle and angle change rate by using a fuzzy controller, controlling mechanical braking torque, regenerative braking torque and motor reverse driving torque according to the torque proportion information, determining relative steering radius deviation values of the vehicle, and performing torque compensation on any one torque or any combination of a plurality of torques of the mechanical braking torque, the regenerative braking torque and the motor reverse driving torque according to the relative steering radius deviation values. The application can reduce the energy loss in the differential steering process and improve the stability of the vehicle.

Inventors

MAO YAN
CHEN LINJUN
YAO WEI

Assignees

山河智能装备股份有限公司

Dates

Publication Date: 20260505
Application Date: 20251211

Claims (8)

1. A torque control method in a differential steering process, comprising: acquiring the running speed, steering wheel angle and angle change rate of the vehicle in the process of differential steering of the vehicle; Generating moment proportion information by using a fuzzy controller according to the running speed, the steering wheel angle and the angle change rate, wherein the moment proportion information is used for describing the proportional relation of mechanical braking moment, regenerative braking moment and motor reverse driving moment; The mechanical braking moment, the regenerative braking moment and the motor reverse driving moment are controlled according to the moment proportion information; Determining a relative steering radius deviation value of the vehicle, and performing torque compensation on any one torque or a combination of any several torques of the mechanical braking torque, the regenerative braking torque and the motor reverse driving torque according to the relative steering radius deviation value; Wherein determining the relative steering radius deviation value of the vehicle comprises: inquiring a target relative steering radius value according to the steering wheel angle; Determining an actual relative steering radius value of the vehicle using a sensor or a locating device; Determining a relative steering radius deviation value according to the target relative steering radius value and the actual relative steering radius value, wherein the relative steering radius is used for describing the ratio of the actual turning radius to the wheelbase; And performing torque compensation on any one torque or a combination of any several torques of the mechanical braking torque, the regenerative braking torque and the motor reverse driving torque according to the relative steering radius deviation value, wherein the torque compensation comprises the following steps: inputting the relative steering radius deviation value into a PID controller to obtain a total torque value to be compensated; dividing the total moment value to be compensated into a first moment value, a second moment value and a third moment value according to a preset proportion; performing torque compensation on the mechanical braking torque by using a first torque value; Performing torque compensation on the regenerative braking torque by using a second torque value; and performing torque compensation on the motor reverse driving torque by using a third torque value.
2. The torque control method in the differential steering process according to claim 1, characterized by generating torque proportion information from the running speed, the steering wheel angle, and the angle change rate by using a fuzzy controller, comprising: Selecting a corresponding fuzzy control rule according to a speed interval in which the running speed is located; and carrying out fuzzy reasoning and defuzzification processing on the steering wheel angle and the angle change rate based on the fuzzy control rule by utilizing the fuzzy controller to obtain the moment proportion information.
3. The torque control method in the differential steering process according to claim 2, characterized by further comprising, before selecting the corresponding fuzzy control rule according to the speed interval in which the running speed is located: Determining priority information corresponding to each speed interval, wherein the priority information is used for describing distribution strategies of mechanical braking torque, regenerative braking torque and motor reverse driving torque; And generating a fuzzy control rule corresponding to each speed interval according to the priority information.
4. The torque control method in the differential steering process according to claim 1, wherein controlling the mechanical braking torque, the regenerative braking torque, and the motor reverse driving torque in accordance with the torque proportion information includes: determining a motor torque difference from an inboard motor torque and an outboard motor torque of the vehicle; calculating target torque values of the mechanical braking torque, the regenerative braking torque and the motor reverse driving torque according to the motor torque difference and the torque proportion information; and controlling the mechanical braking moment, the regenerative braking moment and the motor reverse driving moment according to the target moment value.
5. The torque control method in the differential steering process according to claim 1, characterized by further comprising, before dividing the total torque value to be compensated into a first torque value, a second torque value, and a third torque value according to a preset ratio: And determining the preset proportion according to the maximum output torque value of the torque source and the priority strategy.
6. A torque control system during differential steering, comprising: the parameter acquisition module is used for acquiring the running speed, steering wheel angle and angle change rate of the vehicle in the process of performing differential steering on the vehicle; The proportion determining module is used for generating moment proportion information by utilizing a fuzzy controller according to the running speed, the steering wheel angle and the angle change rate, wherein the moment proportion information is used for describing the proportion relation of mechanical braking moment, regenerative braking moment and motor reverse driving moment; The torque control module is used for controlling the mechanical braking torque, the regenerative braking torque and the motor reverse driving torque according to the torque proportion information; The torque compensation module is used for determining a relative steering radius deviation value of the vehicle, and carrying out torque compensation on any one torque or a combination of any several torques of the mechanical braking torque, the regenerative braking torque and the motor reverse driving torque according to the relative steering radius deviation value; The process for determining the relative steering radius deviation value of the vehicle by the moment compensation module comprises the steps of inquiring a target relative steering radius value according to the steering wheel angle, determining an actual relative steering radius value of the vehicle by utilizing a sensor or a positioning device, determining the relative steering radius deviation value according to the target relative steering radius value and the actual relative steering radius value, wherein the relative steering radius is used for describing the ratio of the actual steering radius to the wheelbase; The torque compensation module performs torque compensation on any one or a combination of any several of the mechanical braking torque, the regenerative braking torque and the motor reverse driving torque according to the relative steering radius deviation value, wherein the process comprises the steps of inputting the relative steering radius deviation value into a PID controller to obtain a total torque value to be compensated, dividing the total torque value to be compensated into a first torque value, a second torque value and a third torque value according to a preset proportion, performing torque compensation on the mechanical braking torque by using the first torque value, performing torque compensation on the regenerative braking torque by using the second torque value, and performing torque compensation on the motor reverse driving torque by using the third torque value.
7. An electronic device comprising a memory and a processor, the memory having stored therein a computer program, the processor, when calling the computer program in the memory, implementing the steps of the torque control method in the differential steering process as claimed in any one of claims 1 to 5.
8. A storage medium having stored therein computer executable instructions which, when loaded and executed by a processor, implement the steps of the torque control method in a differential steering process as claimed in any one of claims 1 to 5.

Description

Moment control method, system, equipment and medium in differential steering process Technical Field The application relates to the technical field of automatic control, in particular to a torque control method, a system, equipment and a medium in the differential steering process. Background Differential steering refers to a steering mode for generating steering motion by controlling the rotation speed difference of driving wheels or tracks on the left side and the right side of a vehicle. In the related art, steering control is generally realized by adopting a mechanical braking mode, but a large amount of friction heat is generated in the mode, so that energy loss is excessive and steering stability is poor. Therefore, how to reduce the energy loss during the differential steering process and improve the stability of the vehicle is a technical problem that needs to be solved by those skilled in the art. Disclosure of Invention The application aims to provide a torque control method, a system, equipment and a medium in the differential steering process, which can reduce the energy loss in the differential steering process and improve the stability of a vehicle. In order to solve the technical problems, the application provides a torque control method in the differential steering process, which comprises the following steps: acquiring the running speed, steering wheel angle and angle change rate of the vehicle in the process of differential steering of the vehicle; Generating moment proportion information by using a fuzzy controller according to the running speed, the steering wheel angle and the angle change rate, wherein the moment proportion information is used for describing the proportional relation of mechanical braking moment, regenerative braking moment and motor reverse driving moment; The mechanical braking moment, the regenerative braking moment and the motor reverse driving moment are controlled according to the moment proportion information; And determining a relative steering radius deviation value of the vehicle, and performing torque compensation on any one torque or a combination of any several torques of the mechanical braking torque, the regenerative braking torque and the motor reverse driving torque according to the relative steering radius deviation value. Optionally, generating, by using a fuzzy controller, torque proportion information according to the running speed, the steering wheel angle and the angle change rate includes: Selecting a corresponding fuzzy control rule according to a speed interval in which the running speed is located; and carrying out fuzzy reasoning and defuzzification processing on the steering wheel angle and the angle change rate based on the fuzzy control rule by utilizing the fuzzy controller to obtain the moment proportion information. Optionally, before selecting the corresponding fuzzy control rule according to the speed interval in which the running speed is located, the method further includes: Determining priority information corresponding to each speed interval, wherein the priority information is used for describing distribution strategies of mechanical braking torque, regenerative braking torque and motor reverse driving torque; And generating a fuzzy control rule corresponding to each speed interval according to the priority information. Optionally, determining the relative steering radius deviation value of the vehicle includes: inquiring a target relative steering radius value according to the steering wheel angle; Determining an actual relative steering radius value of the vehicle using a sensor or a locating device; and determining the relative steering radius deviation value according to the target relative steering radius value and the actual relative steering radius value, wherein the relative steering radius is used for describing the ratio of the actual turning radius to the wheelbase. Optionally, controlling the mechanical braking torque, the regenerative braking torque and the motor reverse driving torque according to the torque proportion information includes: determining a motor torque difference from an inboard motor torque and an outboard motor torque of the vehicle; calculating target torque values of the mechanical braking torque, the regenerative braking torque and the motor reverse driving torque according to the motor torque difference and the torque proportion information; and controlling the mechanical braking moment, the regenerative braking moment and the motor reverse driving moment according to the target moment value. Optionally, performing torque compensation on any one torque or a combination of any several torques of the mechanical braking torque, the regenerative braking torque and the motor reverse driving torque according to the relative steering radius deviation value, including: inputting the relative steering radius deviation value into a PID controller to obtain a total torque value to be compensated; dividing