发明名称 |
REAL-TIME ALLOCATION OF ACTUATOR TORQUE IN A VEHICLE |
摘要 |
A method for allocating forces among the corners of a vehicle having a redundant actuator suite includes determining a set of desired forces at the center of gravity of the vehicle, and allocating the set of desired forces among the corners of the vehicle as virtual control commands using a controller. The method also includes mapping the virtual control commands at the corners to actual or true control commands at the corners, and controlling a plurality of actuators at the corners using the actual or true control commands. The actuators may include friction brakes and wheel motors. Mapping the virtual control commands may include using a Least Squares formulation. Control of the actuators may be prioritized with respect to each other using weighting matrices. A vehicle includes a controller having actuators and a controller configured for executing the above method.
|
申请公布号 |
US2012197469(A1) |
申请公布日期 |
2012.08.02 |
申请号 |
US201113017117 |
申请日期 |
2011.01.31 |
申请人 |
GHONEIM YOUSSEF A.;CHEN SHIH-KEN;PYLYPCHUK VALERY;MOSHCHUK NIKOLAI K.;LITKOUHI BAKHTIAR BRIAN;GM GLOBAL TECHNOLOGY OPERATIONS LLC |
发明人 |
GHONEIM YOUSSEF A.;CHEN SHIH-KEN;PYLYPCHUK VALERY;MOSHCHUK NIKOLAI K.;LITKOUHI BAKHTIAR BRIAN |
分类号 |
B60L15/20;G06F19/00 |
主分类号 |
B60L15/20 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|