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All-electric drive distributed unmanned vehicle motion simulation platform and design method thereof

A technology of motion simulation and simulation platform, applied in the fields of electrical digital data processing, instrumentation, geometric CAD, etc., can solve the problem of kinematics model research without scholars, inconvenient upper-level trajectory planning and tracking algorithm research, and the inability to realize 4-wheel independent drive/control Dynamic/steering simulation and other issues to achieve good speed stability and mechanical response characteristics, small turning radius, maintain speed stability and mechanical response characteristics

Active Publication Date: 2020-12-01
HUNAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] (1) In the existing independent driving electric vehicle simulation platform, it is impossible to realize four-wheel independent driving / braking / steering simulation, so it is difficult to fully simulate the motion mode of unmanned vehicles;
[0005] (2) In the motion control algorithm of the existing simulation platform, the influence of dynamics is ignored or a non-parametric dynamic model is used, which is not convenient for engineers to study the upper trajectory planning and tracking algorithm of unmanned vehicles;
[0006] (3) At present, the parametric dynamic control model can only be applied to the trajectory tracking kinematics simulation of front axle or rear axle steering. For the all-electric drive distributed mobile chassis, no scholars have studied the kinematic model

Method used

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  • All-electric drive distributed unmanned vehicle motion simulation platform and design method thereof
  • All-electric drive distributed unmanned vehicle motion simulation platform and design method thereof
  • All-electric drive distributed unmanned vehicle motion simulation platform and design method thereof

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Embodiment 1

[0038] Such as figure 1 As shown, the present invention proposes an all-electric drive distributed unmanned vehicle motion simulation platform, which is established by the joint simulation of Carsim and Simulink, including the body shape model, aerodynamic model, tire and suspension model created by Carsim. System model and drive system model, steering system model, brake system model created by Simulink.

[0039] Specifically, as figure 2As shown, the simulation platform mentioned in this embodiment is a four-wheel independent drive simulation platform, which includes a simulation module under the MATLAB / Simulink environment, and the simulation module includes a driver control module, a control algorithm decision module, and four drive motor integration module, four steering motor integration modules, and Carsim S-Function module; each drive motor integration module and steering motor integration module act on each individual wheel; the two ends of the Carsim S-Function mod...

Embodiment 2

[0049] In this embodiment, a four-wheel Ackerman steering kinematics model is proposed, and the four-wheel Ackermann steering kinematics model is set in the moment-rotation-angle distribution module described in Embodiment 1. The principle of Ackermann steering is mainly to solve the problem of excessive wear of the wheels during the steering movement of the vehicle. The main way is: the inner and outer wheels of the vehicle must make a circular motion around an instantaneous center when turning, so as to ensure that the wheels and the ground are in pure rolling There is no slippage phenomenon to achieve smooth turning of the vehicle. The traditional two-wheeled Ackerman steering vehicle uses a connecting rod structure to make the steering angle of the inner wheel larger than the steering angle of the outer wheel by 2 to 4 degrees during steering, and make the four wheels The rotation center of the wheel is located on the extension line of the rear axle, and the line connecting...

Embodiment 3

[0066] In this embodiment, a path and kinematics model of an all-electric drive distributed unmanned vehicle is proposed. The path and kinematics model includes upper-level kinematics that can map the vehicle position and heading angle state quantities from the vehicle speed and front axle angle. model, and the lower-level kinematics model that can map the vehicle speed and the front axle steering angle to the respective four-wheel speeds and four-wheel steering angle control quantities, wherein the lower-level kinematics model is based on the four-wheel Ake described in Embodiment 2 The Mann steering model is established; wherein the upper layer kinematics model is set in the algorithm control decision module with the algorithm described in Example 1.

[0067] Such as Figure 15 As shown, the upper kinematics model is as follows, under the inertial coordinate system OXY, (X r ,Y r ), (X f ,Y f ), (X G ,Y G ) are the coordinates of the rear axle, the front axle axis and ...

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Abstract

The invention provides an all-electric drive distributed unmanned vehicle motion simulation platform and a design method thereof. According to the method, a whole vehicle boundary dimension, aerodynamics, suspension and tire system parameter model is completed in Carsim; meanwhile, the driving end, the steering end and the braking end of the Carsim traditional automobile model are disconnected; adriving system model, a steering system model and a braking system model are established by Simulink; exchange is carried out through an external data interface in Carsim software, so that a vehicle model in Carsim software obtains independent transient parameters of driving torque, braking torque and a steering angle, a driver control model and an algorithm control decision model are establishedin Simulink, and establishment of a distributed unmanned vehicle simulation platform is achieved; the unmanned vehicle simulation platform has the advantage of independent driving / steering / braking, and six steering modes such as two-wheel steering, four-wheel steering, crabbing and pivot steering can be realized based on the steering kinematics model established by the platform, so that the motionmode of the unmanned vehicle can be comprehensively simulated.

Description

technical field [0001] The invention relates to the technical field of an unmanned vehicle motion simulation platform, in particular to an all-electric drive distributed unmanned vehicle motion simulation platform and a design method thereof. Background technique [0002] All-electric drive distributed unmanned vehicles are the current development trend of new energy vehicles. Compared with centralized drive traditional vehicles, all-electric drive distributed unmanned vehicles adopt all-motor drive technology, which reduces the complexity It has created a new space and brought new challenges to the vehicle motion control. The advantages of all-electric unmanned vehicles are mainly reflected in the following three aspects: First, the motor is both an actuator and an information unit, which can provide accurate information for the dynamic feedback control system and is the basis for coordinated control of multiple actuators; Second, the distributed unmanned vehicle cancels t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/15G06F119/14
CPCG06F30/15G06F2119/14Y02T90/00
Inventor 周枫林游雨龙李光邹腾安张智勇孙晓廖海洋张展展
Owner HUNAN UNIV OF TECH
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