CN102629109A - Automatic righting control method of road wrecker - Google Patents

Automatic righting control method of road wrecker Download PDF

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CN102629109A
CN102629109A CN2011103488507A CN201110348850A CN102629109A CN 102629109 A CN102629109 A CN 102629109A CN 2011103488507 A CN2011103488507 A CN 2011103488507A CN 201110348850 A CN201110348850 A CN 201110348850A CN 102629109 A CN102629109 A CN 102629109A
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vehicle
obstacle clearing
upright
road obstacle
elevator
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张为公
李旭
徐启敏
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Southeast University
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Southeast University
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Abstract

The invention provides an automatic righting control method of a road wrecker. The method comprises the following steps: establishing a road wrecker righting model; inputting a characteristic parameter of a vehicle in an accident and obtaining a control rule; reasonably arranging the parameter and constructing a road wrecker righting system hydraulic circuit model according to a hydraulic component of the road wrecker righting system; constructing models of a traditional proportion integration differentiation (PID) control system and a VAPID control system; carrying out combined simulation on the road wrecker righting system hydraulic circuit model and the models of the traditional PID control system and the VAPID control system; and employing a VAPID control algorithm to control a righting process of the system hydraulic circuit model. According to the invention, the provided method not only enables the system to be stable but also enables an over-control phenomenon to be avoided. And moreover, a step response of the system is fast; a decay rate of error tracking is high; and it can be ensured that the road wrecker can right a vehicle in an accident rapidly and steadily.

Description

Road obstacle clearing vehicle set upright control method automatically
Technical field
What the present invention relates to that a kind of road obstacle clearing vehicle removes obstacles when rescue sets upright control method automatically, relates in particular to after the rollover traffic hazard takes place commerial vehicle such as passenger vehicle, and the automatic control algorithm when operating is set upright in the rescue of removing obstacles of road obstacle clearing vehicle scene.
Background technology
Road obstacle clearing vehicle is the main equipment of road traffic accident emergency management and rescue, when removing obstacles rescue for accident forms such as overturnings, mainly utilizes the function of setting upright of road obstacle clearing vehicle.At present; Domesticly set upright operation and mainly contain following two kinds: a kind of is axle with the accident vehicle tire that lands, and utilizes the arm of road obstacle clearing vehicle or truck-mounted crane that accident vehicle is lifted by crane, and under action of gravity, accomplishes and sets upright; Set upright simple to operate; But lack protection, very easily accident vehicle is caused secondary damage, cause second accident; A kind ofly utilize double hoisting that road obstacle clearing vehicle is equipped with, promptly major and minor elevator is manually controlled the major-minor elevator by the rescue personnel, and master winch begins to provide power to make the accident vehicle upset; Secondary elevator is as protection, and behind the centre of gravity place excessively to be flipped, master winch is as protection; Secondary elevator overcomes gravity steadily lands accident vehicle, accomplishes the work of setting upright, and this process need rescue personnel in time regulates two elevator displacements according to vehicle attitude; Regulate the experience decision of operation, can not guarantee the steady of the process of setting upright, and tie up complicacy by the rescue personnel; Automaticity is low, rescue efficiency is low, is unfavorable in time resuming traffic, and reduces the congestion in road time.External road obstacle clearing vehicle polygamy is equipped with four to six elevators, sets upright principle and double hoisting basically identical, just raises cooperation through multireel, and feasible to set upright process more steady, quick.
Comprehensive situation both at home and abroad, road obstacle clearing vehicle is set upright operation, is mainly manually controlled by the rescue personnel that removes obstacles, and the rescue personnel's that removes obstacles experience is depended in concrete operations, and standardization is poor, poor repeatability, automaticity is low, has a strong impact on rescue efficiency.Particularly domestic, adopt double hoisting to set upright, tie up complicacy, and can not guarantee the stability of the process of setting upright.
For overcoming the limitation of said method, the present invention will set upright stable requirement fast in the process to road obstacle clearing vehicle, and a kind of advanced person is provided reliable robotization solution.
Summary of the invention
The present invention mainly is the deficiency to prior art, provide a kind of be applicable to the road obstacle clearing vehicle scene remove obstacles rescue set upright operation, realize robotization and the intelligent road obstacle clearing vehicle of setting upright set upright control method automatically.
To achieve these goals, the present invention provides following technical scheme:
Road obstacle clearing vehicle set upright control method automatically, its concrete steps comprise:
At first set up road obstacle clearing vehicle and set upright model;
Input accident vehicle characteristic parameter, and obtain control law;
On the basis that obtains control law, be foundation with road obstacle clearing vehicle centralizing system Hydraulic Elements, parameter rationally is set, build road obstacle clearing vehicle centralizing system hydraulic circuit model;
Build the model of conventional PID (proportional integral derivative) control system and VAPID (variable element proportional integral derivative) control system;
The model of road obstacle clearing vehicle centralizing system hydraulic circuit model and conventional PID control system and VAPID control system carries out associative simulation;
Adopting the VAPID control algolithm that system liquid hydraulic circuit model is set upright process controls.
As a preferred embodiment of the present invention, saidly set up road obstacle clearing vehicle to set upright model be simplified model, accident vehicle is replaced with the rectangular parallelepiped rigid body; Do not consider lateral shift, the process of will setting upright is reduced to dead axle and rotates, and model adopts four elevators; Each two of wherein major and minor elevators; Steady for guaranteeing to set upright process, the accident vehicle attitude is as controlling object in the process to set upright, and it is following to obtain four elevator displacement laws:
Figure 2011103488507100002DEST_PATH_IMAGE001
（1）
Figure 473185DEST_PATH_IMAGE002
（2）
Figure 2011103488507100002DEST_PATH_IMAGE003
（3）
Figure 276930DEST_PATH_IMAGE004
（4）
Wherein: said PM, PL, QJ, QK are respectively first master winch, second master winch, the first secondary elevator, the second secondary elevator displacement; A representes the accident vehicle overall height; B representes the accident vehicle overall width, and c represents the accident vehicle vehicle commander, and d is an accident vehicle front overhang length; F is accident vehicle front overhang length and vehicle wheel base length sum, P point coordinate (x 1, y 1, z 1) be road obstacle clearing vehicle master winch fixed block position coordinates on arm, Q point coordinate (x 2, y 2, z 2) be the secondary elevator of road obstacle clearing vehicle fixed block position coordinates on arm, α is for setting upright accident vehicle flip angle in the process.
As a preferred embodiment of the present invention; Said input accident vehicle characteristic parameter; And the step of obtaining control law comprises: the remove obstacles geometric relationship of relief car position of input accident vehicle and road; And accident vehicle sets upright the angular velocity in the process, calculates the displacement curve of each elevator in the process of setting upright according to four elevator displacement laws (1)-(4); Set upright in the process, the time dependent curve of displacement that obtains through each elevator work is a control law, and wherein, the variable quantity of this displacement curve is the length of each elevator folding and unfolding rope, and negative value representes that rope tightens up, and puts rope on the occasion of the expression elevator.
As a preferred embodiment of the present invention, the parameter adjustment formula of VAPID control algolithm is following:
Figure 2011103488507100002DEST_PATH_IMAGE005
； （5）
Figure 456239DEST_PATH_IMAGE006
； （6）
Figure 2011103488507100002DEST_PATH_IMAGE007
。（7）
In the formula, K P0, K I0, K D0Setting method by conventional PID controller is adjusted, K P ', K i ', K i ' ',
K d 'Be correction factor.
Said road obstacle clearing vehicle set upright control method automatically, not only make system stability, and the non-overshoot phenomenon, the step response of system is rapid, the tracking error rate of decay is fast, can ensure the accident vehicle of setting upright of road obstacle clearing vehicle quick and stable like this.
Description of drawings
Fig. 1 be road obstacle clearing vehicle of the present invention set upright the control method system flowchart automatically;
Fig. 2 is that road obstacle clearing vehicle is set upright illustraton of model among the present invention;
Fig. 3 is that accident vehicle is set upright in the process perspective view on the yoz plane among the present invention;
Fig. 4 is each elevator displacement curve figure in the embodiment 2 of the present invention;
Fig. 5 is each elevator change in displacement law curve figure in the embodiment 2 of the present invention;
Fig. 6 is that road obstacle clearing vehicle centralizing system monovolume is raised AMESim (multidisciplinary field complication system modeling and simulating solution) hydraulic pressure realistic model figure among the present invention;
Fig. 7 is conventional PID control system simulink (the integration environment of dynamic system modeling, emulation and analysis-by-synthesis an is provided) block diagram among the present invention;
Fig. 8 is a VAPID control system structure simulink block diagram of the present invention;
Fig. 9 is a VAPID structure simulink block diagram of the present invention;
Figure 10 is the step response curve figure of conventional PID and VAPID control system in the embodiment 2 of the present invention;
Figure 11 is conventional PID and each elevator displacement tracking error curve diagram of VAPID control algolithm in the embodiment 2 of the present invention.
Embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present invention is set forth in detail,, thereby protection scope of the present invention is made more explicit defining so that advantage of the present invention and characteristic can be easier to the understanding by those skilled in the art.
Consult Fig. 1 to Figure 11, Fig. 1 be road obstacle clearing vehicle of the present invention set upright the control method system flowchart automatically; Fig. 2 is that road obstacle clearing vehicle is set upright illustraton of model among the present invention; Fig. 3 is that accident vehicle is set upright in the process perspective view on the yoz plane among the present invention; Fig. 4 is each elevator displacement curve figure in the embodiment 2 of the present invention; Fig. 5 is each elevator change in displacement law curve figure in the embodiment 2 of the present invention; Fig. 6 is that road obstacle clearing vehicle centralizing system monovolume is raised AMESim hydraulic pressure realistic model figure among the present invention; Fig. 7 is a conventional PID control system simulink block diagram among the present invention; Fig. 8 is a VAPID control system structure simulink block diagram of the present invention; Fig. 9 is a VAPID structure simulink block diagram of the present invention; Figure 10 is the step response curve figure of conventional PID and VAPID control system in the embodiment 2 of the present invention; Figure 11 is conventional PID and each elevator displacement tracking error curve diagram of VAPID control algolithm in the embodiment 2 of the present invention.
Road obstacle clearing vehicle set upright control method automatically, its concrete steps comprise:
At first set up road obstacle clearing vehicle and set upright model;
Input accident vehicle characteristic parameter, and obtain control law;
On the basis that obtains control law, be foundation with road obstacle clearing vehicle centralizing system Hydraulic Elements, parameter rationally is set, build road obstacle clearing vehicle centralizing system hydraulic circuit model;
Build the model of conventional PID control system and VAPID control system;
The model of road obstacle clearing vehicle centralizing system hydraulic circuit model and conventional PID control system and VAPID control system carries out associative simulation;
Adopting the VAPID control algolithm that system liquid hydraulic circuit model is set upright process controls.
Saidly set up road obstacle clearing vehicle to set upright model be simplified model, accident vehicle is replaced with the rectangular parallelepiped rigid body, do not consider lateral shift; The process of will setting upright is reduced to dead axle and rotates; Model adopts four elevators, and each two of wherein major and minor elevators are steady for guaranteeing to set upright process; The accident vehicle attitude is as controlling object in the process to set upright, and it is following to obtain four elevator displacement laws:
Figure 669045DEST_PATH_IMAGE001
（1）
Figure 312516DEST_PATH_IMAGE002
（2）
Figure 647683DEST_PATH_IMAGE003
（3）
（4）
Wherein: said PM, PL, QJ, QK are respectively first master winch, second master winch, the first secondary elevator, the second secondary elevator displacement; A representes the accident vehicle overall height; B representes the accident vehicle overall width, and c represents the accident vehicle vehicle commander, and d is an accident vehicle front overhang length; F is accident vehicle front overhang length and vehicle wheel base length sum, P point coordinate (x 1, y 1, z 1) be road obstacle clearing vehicle master winch fixed block position coordinates on arm, Q point coordinate (x 2, y 2, z 2) be the secondary elevator of road obstacle clearing vehicle fixed block position coordinates on arm, α is for setting upright accident vehicle flip angle in the process.
Said input accident vehicle characteristic parameter; And the step of obtaining control law comprises: the remove obstacles geometric relationship of relief car position of input accident vehicle and road; And accident vehicle sets upright the angular velocity in the process, calculates the displacement curve of each elevator in the process of setting upright according to formula (1)-(4); Set upright in the process, the time dependent curve of displacement that obtains through each elevator work is a control law, wherein; The variable quantity of this displacement curve is the length of each elevator folding and unfolding rope, and negative value representes that rope tightens up, and puts rope on the occasion of the expression elevator; T is a current time, and Δ t is the time interval, and t+ Δ t moment shift value and t moment shift value are subtracted each other; In the time of can obtaining each elevator work, displacement is curve over time, and this curve is required control law.
On the basis that obtains control law, utilize the French Imagine AMESim Rev10 of company software, be foundation with road obstacle clearing vehicle centralizing system Hydraulic Elements, parameter rationally is set, build road obstacle clearing vehicle centralizing system hydraulic circuit model.
In the conventional PID control, K p, K i, K dAdjust according to object model or dynamic response curve, the VAPID controller is with K p, K i, K dBe taken as the function of deviation e, according to the size of deviation e, these three coefficients of real time altering, scale-up factor K pHour get smaller value at the absolute value of deviation e, get higher value when opposite, help accelerating response speed like this, guarantee to have good stability, integral coefficient K simultaneously iHour get higher value at the absolute value of deviation e, when the absolute value of deviation e is big, get smaller value or 0, so both helped guaranteeing the stable state floating, can not cause again that integration is saturated and make overshoot increase, regulate time lengthening, differential coefficient K dHour get higher value at the absolute value of deviation e, when the absolute value of deviation e is big, get smaller value, help accelerating reaction velocity like this, improve the sensitivity of controller, in time regulate when occurring disturbing disturbing to little deviation.The parameter adjustment formula of VAPID control algolithm is following:
； （5）
Figure 330227DEST_PATH_IMAGE006
； （6）
Figure 101874DEST_PATH_IMAGE008
。（7）
In the formula, K P0, K I0, K D0Setting method by conventional PID controller is adjusted, K P ', K i ', K i ' ',
K d 'Be correction factor, each parameter through adjustment VAPID can make each elevator of road obstacle clearing vehicle according to the control law automatic steady work of presetting, and realizes the robotization of the process of setting upright.
Said road obstacle clearing vehicle set upright control method automatically; Since adopted parameter be provided with easy, be easy to realize, VAPID control algolithm that efficient is high; So not only make system stability, and the non-overshoot phenomenon, the step response of system is rapid; The tracking error rate of decay is fast, can ensure the accident vehicle of setting upright of road obstacle clearing vehicle quick and stable like this.
Embodiment 1
Accident vehicle is replaced with the rectangular parallelepiped rigid body, do not consider lateral shift, the process of will setting upright is reduced to dead axle and rotates; Set up road obstacle clearing vehicle and set upright model, wherein AB represents the accident vehicle overall height, and BC representes the accident vehicle overall width; CD representes the accident vehicle vehicle commander, and AJ is an accident vehicle front overhang length, and JK is the accident vehicle wheelbase; KF representes accident vehicle rear overhang length, and P, Q are major-minor elevator fixed block position on the road obstacle clearing vehicle arm, and K, J, L, M represent accident vehicle tyre rim position; AOEF is the accident vehicle chassis, and model adopts four elevators, each two of wherein major and minor elevators.
When setting upright with four tyre rims as tying up the fixed position.When tying up, require MN ∥ AB, NH ∥ OA; LI ties up that mode is consistent with MNH, and rope PHM is connected two master winches respectively with PIL, and QK, QJ connect two secondary elevators; Set upright in the process; The road obstacle clearing vehicle boom position is fixed, and elevator remains unchanged to the distance of suspension hook and LI, MH equal length, has only PH, PI, QK, QJ to change with the accident vehicle flip angle.
If AB=a, BC=b, CD=c, AJ=d, AK=f, P point coordinate (x 1, y 1, z 1), the Q point coordinate is (x 2, y 2, z 2).Because the process of will setting upright is reduced to dead axle and rotates, so set upright in the process, A, J, K, 4 of F are that the x coordinate is different, and B, H, I, J also are like this.Set upright in the process, accident vehicle is as shown in Figure 3 in the projection on yoz plane.α investigates Fig. 2 and can know for setting upright accident vehicle flip angle in the process among the figure, sets upright any time in the process, the A point coordinate be (0 ,-bsin α; Bcos α), the B point coordinate is (0, acos α-bsin α, asin α+bcos α), is prone to know that the J point coordinate is (d;-bsin α, bcos α), the K point coordinate is (f ,-bsin α, bcos α), the H point coordinate is (d; Acos α-bsin α, asin α+bcos α), the I point coordinate is (f, acos α-bsin α, asin α+bcos α).So have:
Figure DEST_PATH_IMAGE009
（1）
In like manner,
Figure 990196DEST_PATH_IMAGE002
(2)
Figure 810384DEST_PATH_IMAGE003
（3）
Figure 162868DEST_PATH_IMAGE004
（4）
The hypothetical accident vehicle is at the uniform velocity set upright with angular velocity omega, i.e. α=ω t, wherein t express time.Input accident vehicle characteristic parameter; The road relief car arm major-minor elevator fixed pulley coordinate of removing obstacles when setting upright operation; And accident vehicle is set upright the angular velocity in the process; Can calculate the displacement curve of each elevator in the process of setting upright according to four elevator displacement laws (1)-(4), promptly required control law.
On the basis that obtains control law, set up road obstacle clearing vehicle centralizing system hydraulic circuit model, because four elevators are separate, raising hydraulic circuit with monovolume is that object is studied.With road obstacle clearing vehicle centralizing system Hydraulic Elements is foundation; Parameter rationally is set; Utilize AMESim software to build road obstacle clearing vehicle centralizing system hydraulic circuit model, this model mainly is made up of fixed displacement pump, fixed displacement motor, 3-position 4-way servo-valve, rotation load and angular transducer.Fixed displacement pump is that total system provides hydraulic power as power source; Through control 3-position 4-way servo-valve, change hydraulic fluid flow rate, thereby fixed displacement motor is moved according to required control law; Angular transducer provides feedback signal, makes whole valve control system constitute the closed-loop path.
Consider the superiority of Matlab aspect control algolithm, utilize AMESim and Matlab associative simulation.The hydraulic circuit model that AMESim software is set up calls in Matlab with the form of S function.Adopt the VAPID control algolithm that system liquid hydraulic circuit model is set upright process and carry out Control Study.
Utilizing the parameter adjustment formula of following VAPID control algolithm that system liquid hydraulic circuit model is set upright process again controls:
Figure 43100DEST_PATH_IMAGE005
； （5）
Figure 481034DEST_PATH_IMAGE006
； （6）
Figure 901651DEST_PATH_IMAGE008
。（7）
In the formula, K P0, K I0, K D0Setting method by conventional PID controller is adjusted, K P ', K i ', K i ' ',
K d 'Be correction factor, each parameter through adjustment VAPID can make each elevator of road obstacle clearing vehicle according to the control law automatic steady work of presetting, and realizes the robotization of the process of setting upright.
Embodiment 2
The effect of the VAPID control algolithm that proposes for check the present invention ins conjunction with controlling models and the AMESim hydraulic circuit model set upright of the present invention, is set upright simulation study to the family saloon that takes place to turn on one's side automatically, and the emulation basic condition is explained as follows:
It is as shown in Figure 2 that road obstacle clearing vehicle of the present invention is set upright model, and AOEF is plane, place, accident vehicle chassis.Accident vehicle is as shown in Figure 3 in the yoz plane projection.Wherein AB is an overall height, and BC is an overall width, and CD is the vehicle commander, and AJ is a vehicle front overhang length; JK is a wheelbase, and KF is a vehicle rear overhang length, and P, Q represent major-minor elevator fixed block position on the road obstacle clearing vehicle arm respectively, and K, J, L, M are four tyre rims; When setting upright as tying up the fixed position, MN ∥ AB wherein, NH ∥ OA; LI ties up that mode is consistent with MNH, and rope PHM is connected two master winches respectively with PIL, and QK, QJ connect two secondary elevators.Set upright in the process, elevator remains unchanged to distance and LI, the MH equal length of suspension hook.According to the geometry site of accident vehicle and road obstacle clearing vehicle, can obtain formula (1) to displacement curve shown in the formula (4).
The accident vehicle characteristic parameter is following in this instance: vehicle length and width height is 4.8m*1.8m*1.4m, and front overhang is 0.9m, and rear overhang is 1.2m, and wheelbase is 2.7m, i.e. a=1.4m; B=1.8m, c=4.8m, d=0.9m, f=0.9+2.7=3.6m; Road obstacle clearing vehicle major-minor elevator fixed block coordinate is P (2 ,-3,4), and Q (2;-3.5,3), for realizing steadily setting upright, accident vehicle is with angular velocity omega=10 o/ min at the uniform velocity overturns, α=ω t.
Above-mentioned parameter substitution formula (1) to (4), can be tried to achieve the displacement curve of four elevators respectively.This curve is as shown in Figure 4.
Because it is slower to set upright process, 60 seconds serving as to calculate at interval, even Δ t=60, get t+60 constantly shift value and t constantly shift value subtract each other, the displacement changing curve in the time of can obtaining each elevator and work, as shown in Figure 5.
Set up road obstacle clearing vehicle centralizing system monovolume and raise the hydraulic pressure realistic model, as shown in Figure 6.The road obstacle clearing vehicle major parameter is following in the instance:
Hydraulic pump discharge 56cc/rev, hydraulic pump rotating speed 3400r/min, oil motor discharge capacity 32cc/rev, oil motor rotating speed 4750r/min, load rotating inertia 1000 kg ﹒ m2.
This hydraulic pressure model is generated the S function, under Matlab environment, carry out emulation.For checking VAPID algorithm effects, adopt conventional PID and VAPID respectively this system to be controlled emulation.Conventional PID simulink block diagram is as shown in Figure 7, and according to formula (5)-(7), VAPID control system simulink block diagram is as shown in Figure 8, and wherein the simulink block diagram of VAPID is seen Fig. 9.
According to formula (5)-(7) adjustment parameter, in the adjustment instance, parameter is provided with as follows:
Figure 810439DEST_PATH_IMAGE010
；
Figure DEST_PATH_IMAGE011
。
Conventional PID and VAPID step response curve are shown in figure 10, change input signal into four elevator actual displacement change curves by step signal, and emulation obtains tracking error such as Figure 11.
Can be found out that by Figure 10 with respect to conventional pid control algorithm, VAPID control not only makes system stability, basic non-overshoot phenomenon occurs, and the step response of system is faster, and the time that arrives stable state is shorter.
Can be found that by Figure 11 when following the tracks of each elevator displacement of road obstacle clearing vehicle, the system keeps track error attenuated of VAPID is faster, tracking response is faster than conventional PID, and systematic error do not have the readjustment phenomenon, can realize steadily setting upright of accident vehicle.
The above; Be merely the embodiment of the preferred embodiment of the present invention; But protection scope of the present invention is not limited thereto; Any those of ordinary skill in the art are in the technical scope that the present invention disclosed, and variation or the replacement that can expect without creative work all should be encompassed within protection scope of the present invention.

Claims (4)

  1. A road obstacle clearing vehicle set upright control method automatically, it is characterized in that: it comprises:
    Set up road obstacle clearing vehicle and set upright model;
    Input accident vehicle characteristic parameter, and obtain control law;
    With road obstacle clearing vehicle centralizing system Hydraulic Elements is foundation, and parameter rationally is set, and builds road obstacle clearing vehicle centralizing system hydraulic circuit model;
    Build the model of conventional PID control system and VAPID control system;
    The model of road obstacle clearing vehicle centralizing system hydraulic circuit model and conventional PID control system and VAPID control system carries out associative simulation;
    Adopting the VAPID control algolithm that system liquid hydraulic circuit model is set upright process controls.
  2. Road obstacle clearing vehicle according to claim 1 set upright control method automatically, it is characterized in that: saidly set up road obstacle clearing vehicle to set upright model be simplified model, accident vehicle is replaced with the rectangular parallelepiped rigid body; Do not consider lateral shift, the process of will setting upright is reduced to dead axle and rotates, and model adopts four elevators; Each two of wherein major and minor elevators; Steady for guaranteeing to set upright process, the accident vehicle attitude is as controlling object in the process to set upright, and it is following to obtain four elevator displacement laws:
    Figure DEST_PATH_IMAGE001
    （1）
    （2）
    Figure DEST_PATH_IMAGE003
    （3）
    Figure 352949DEST_PATH_IMAGE004
    （4）
    Wherein: said PM, PL, QJ, QK are respectively first master winch, second master winch, the first secondary elevator, the second secondary elevator displacement; A representes the accident vehicle overall height; B representes the accident vehicle overall width, and c represents the accident vehicle vehicle commander, and d is an accident vehicle front overhang length; F is accident vehicle front overhang length and vehicle wheel base length sum, P point coordinate (x 1, y 1, z 1) be road obstacle clearing vehicle master winch fixed block position coordinates on arm, Q point coordinate (x 2, y 2, z 2) be the secondary elevator of road obstacle clearing vehicle fixed block position coordinates on arm, α is for setting upright accident vehicle flip angle in the process.
  3. 3. road obstacle clearing vehicle according to claim 1 sets upright control method automatically; It is characterized in that: said input accident vehicle characteristic parameter; And the step of obtaining control law comprises: the remove obstacles geometric relationship of relief car position of input accident vehicle and road; And accident vehicle sets upright the angular velocity in the process, according to four elevator displacement laws of formula, calculates the displacement curve of each elevator in the process of setting upright; Set upright in the process, the time dependent curve of displacement that obtains through each elevator work is a control law, and wherein, the variable quantity of this displacement curve is the length of each elevator folding and unfolding rope, and negative value representes that rope tightens up, and puts rope on the occasion of the expression elevator.
  4. Road obstacle clearing vehicle according to claim 1 set upright control method automatically, it is characterized in that: the parameter adjustment formula of VAPID control algolithm is following:
    Figure DEST_PATH_IMAGE005
    ； （5）
    Figure 827792DEST_PATH_IMAGE006
    ； （6）
    ?（7）
    In the formula, K P0, K I0, K D0Setting method by conventional PID controller is adjusted, K P ', K i ', K i ' ',
    K d 'Be correction factor.
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CN111781818A (en) * 2020-07-06 2020-10-16 山东大学 AGV control method and system based on improved fuzzy PID control algorithm
CN112419122A (en) * 2020-11-17 2021-02-26 南京汽车集团有限公司 Data processing method of road operation vehicle

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CN111781818A (en) * 2020-07-06 2020-10-16 山东大学 AGV control method and system based on improved fuzzy PID control algorithm
CN111781818B (en) * 2020-07-06 2021-10-22 山东大学 AGV control method and system based on improved fuzzy PID control algorithm
CN112419122A (en) * 2020-11-17 2021-02-26 南京汽车集团有限公司 Data processing method of road operation vehicle
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Application publication date: 20120808