Multi-axle distributed electric drive wheeled vehicle
The invention relates to a multi-axle distributed electric drive wheeled vehicle, belongs to the technical field of electric drive vehicles, and solves the problems of slow torque pull-down and poor effect of wheel slip intervention of an existing vehicle under large-torque low-speed working conditi...
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Format: | Patent |
Sprache: | chi ; eng |
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Zusammenfassung: | The invention relates to a multi-axle distributed electric drive wheeled vehicle, belongs to the technical field of electric drive vehicles, and solves the problems of slow torque pull-down and poor effect of wheel slip intervention of an existing vehicle under large-torque low-speed working conditions such as vertical obstacle passing and in-situ steering. The vehicle comprises a driving anti-skid control system and a plurality of driving axles, each driving axle comprises two wheels and two driving motors, and the driving anti-skid control system comprises a calculation module for obtaining the slip rate difference value of each wheel; the PI control module outputs a motor torque command value to the driving motor; the fuzzy control module is used for determining a proportionality coefficient and an integral coefficient of the PI control module by adopting a fuzzy control rule based on the slip rate difference value; and the antiskid trigger module enables the PI control module to output a motor torque comm |
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