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1.发明公开公开(公告)号：US20240181828A1
公开(公告)日：2024-06-06
申请号：US18371511
申请日：2023-09-22
发明人： Jingchen HU , Zhiqing LI , Hanxin QIAN , Miao CHEN , Qiyin GUO
IPC分类号： B60G17/0165 , B60G17/015
CPC分类号： B60G17/0165 , B60G17/0157 , B60G2202/42 , B60G2400/823 , B60G2500/10 , B60G2600/182 , B60G2600/1873 , B60G2600/60
摘要： A multi-degree-of-freedom active damping mechanism control method, system and a damping mechanism are provided. A skyhook active damping control algorithm is used for controlling an electric cylinder output force in a vertical damping direction, and an adaptive control algorithm with an adaptive rate is used for correcting a load moment of inertia in pitch and roll damping directions. At the same time, a predictive model is established according to a task space linearization equation near an equilibrium point, and states of the system at N future moments are predicted in advance at each moment to achieve optimal control under complex constraints and reduce the influence of system delay. At the same time, the three control methods may further improve the active damping effect of the damping device by combining road information obtained by a visual sensor in real time.
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2.发明公开公开(公告)号：US20240174212A1
公开(公告)日：2024-05-30
申请号：US18371501
申请日：2023-09-22
发明人： Jiangdong YANG , Qiyin GUO , Miao CHEN , Pingying WEI , Yong XIAO , Nan HU , Yanjun ZENG
CPC分类号： B60W10/30 , A61G3/0816 , B60N2/501 , B60W2050/001
摘要： An active compensation algorithm for an inertia force of on-board equipment and a damping device are provided. The algorithm includes the following steps: a compensation angle acquisition step: acquiring an expected real-time inertia force compensation angle of a damped target when a vehicle takes a sudden turn or emergency braking based on velocity information, acceleration information, and angular velocity information of a vehicle chassis; and a control step: adjusting an angle of a damping motor by adopting a control algorithm according to the real-time inertia force compensation angle, where the damping motor keeps pace with the expected inertia force compensation angle in real time. The active compensation algorithm for the inertia force of on-board equipment can calculate the inertia force compensation angle of the vehicle in real time, so as to achieve a better inertia force compensation function to the damped target through the damping motor.
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公开(公告)号：US20240106358A1
公开(公告)日：2024-03-28
申请号：US18224614
申请日：2023-07-21
发明人： Jingchen HU
IPC分类号： H02P5/48
CPC分类号： H02P5/48
摘要： A force control method and system for multi-motor synchronization is provided. The force control method includes: acquiring a total desired force of a plurality of motors; calculating the desired force of each of the plurality of motors according to a characteristic of each of the plurality of motors; setting an external feedback loop for controlling each of the plurality of motors to operate according to the desired force, and taking a synchronization error of each of the plurality of motors as a feedback item of the external feedback loop; and setting an internal feedback loop for controlling each of the plurality of motors to operate according to the desired force, and taking an output force error of each of the plurality of motors as a feedback item of the internal feedback loop. The force control method and system ensures multi-motor synchronization under the premise of accurate force control.
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