CN104986221B - A kind of hydrostatic mechanically driver type crawler body is discrete to follow rotating direction control method - Google Patents
A kind of hydrostatic mechanically driver type crawler body is discrete to follow rotating direction control method Download PDFInfo
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- CN104986221B CN104986221B CN201510459823.5A CN201510459823A CN104986221B CN 104986221 B CN104986221 B CN 104986221B CN 201510459823 A CN201510459823 A CN 201510459823A CN 104986221 B CN104986221 B CN 104986221B
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- crawler body
- travel direction
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- steering
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Abstract
The present invention relates to the course changing control field of crawler body, especially a kind of hydrostatic mechanically driver type crawler body is discrete to follow rotating direction control method.It includes pretreatment stage, discretization stage and steering and follows the stage.The steering disc type that the present invention is advantageously implemented hydrostatic mechanically driver type crawler body turns to electric-control system, handling maneuver performance and the security performance of hydrostatic mechanically driver type crawler body can be improved, turning track is intended to closer to human pilot, reduce human pilot operation labor intensity, and cost is relatively low, little to the effect of attrition of drive axle.
Description
Technical field
The present invention relates to the course changing control field of crawler body, especially a kind of hydrostatic-mechanically driver type crawler body
Discrete follow rotating direction control method.
Background technology
The steering of crawler body be by two side drive wheel between differential realizing, the accuracy controlling differential is whole
Machine can carry out the guarantee of Turning travel according to the intention of driver.According to the different drive form of crawler body, realize both sides
The mode of driving wheel differential and control is also varied.Hydrostatic-Mechanical Driven is that hydrostatic technology is driven by one kind with mechanical type
The crawler belt power chassis type of drive that dynamic bridge combines, because structure is simple, low cost, dependable performance, it is in crawler type agricultural
It is widely used in machinery.This kind of mode realizes infinitely variable speeds in whole machine certain limit by hydrostatic drive, and passes through
Mechanical type drive axle completes power to the last transmission of driving wheel.Mostly equipped with a pair of clutch-brake in this drive axle, with only
The vertical clutch and brake controlling both sides output shaft, clutch is castellated, only break-make both of which, and cannot realize driving wheel
Electrodeless differential.During course changing control, it is to be completed by controlling the shift fork inside turning track to overcome spring force to rotate.
Therefore, a kind of turning radius is only had using the crawler body of this kind of type of drive when each stick acts on.Turn to changing
During radius, can only be by operating personnel's experience by the way of manual " point to be stopped ", navigability and safety are relatively low.In addition, with
The continuous improvement of agricultural operation machinery automaticity, the remote operation of such crawler body is also more and more closed
Note, course changing control also becomes primary study content therein.
Content of the invention
In order to solve the above problems, it is an object of the invention to provide one kind can improve hydrostatic-mechanically driver type crawler belt
Chassis turn to operating performance and security performance hydrostatic-mechanically driver type crawler body is discrete follows course changing control side
Method.
In order to achieve the above object, the invention provides following technical scheme：
A kind of hydrostatic-mechanically driver type crawler body is discrete follows rotating direction control method, it include pretreatment stage, from
The stage is followed in dispersion stage and steering, specifically includes following steps：
A. input initial straight speed of operation and steering wheel angle；
B. according to the initial straight speed of operation inputting, steering wheel angle, road resistance parameter and crawler body structure
Parameter, calculated based on the steering angular velocity under slide condition, inner track coiling speed and theoretical steering cycle；
C. responded according to Mechanical Driven bridge and determine discrete time section turnaround time, according to discrete time section, theoretical steering is all
Phase discretization, obtains discrete segment number, and then determines crawler body theory travel direction corner and row in each discrete time section
Sail distance and the operating range of actual travel track of crawler body under the two states that drive axle shift fork whether act on
Travel direction corner；
D., before each discrete time section starts, current crawler body travel direction and position and currently theoretical crawler belt are calculated
Error between chassis travel direction and position；
E. according to judgment rule, determine drive axle shift fork active state；
In each discrete segment, described judgment rule is as follows：
If chassis position is more than the interval upper limit of actual path position deviation, and travel direction is less than actual path deflection
Degree deviates interval limit, or chassis position is located in the upper and lower limit of actual path position deviation interval, or chassis position is less than
The interval lower limit of actual path position deviation, and travel direction is not more than the interval upper limit of actual path orientation angle deviation, all no
Shift fork acts on；If chassis position is more than the interval upper limit of actual path position deviation, and travel direction is not less than actual path side
To angle deviating interval limit, or chassis position is less than the interval lower limit of actual path position deviation, and travel direction is more than
Actual path orientation angle deviates the interval upper limit, then the effect of inner side shift fork；
F. currently practical and theoretical crawler body travel direction and position are updated；
G. judge the initial straight speed of operation inputting and whether change with steering wheel angle, in this way, then epicycle controls knot
Bundle, such as no, then jump to step d.
Compared with prior art, the beneficial effects of the present invention is：
The steering disc type that the present invention is advantageously implemented hydrostatic-mechanically driver type crawler body turns to electric-control system, can change
It is apt to handling maneuver performance and the security performance of hydrostatic-mechanically driver type crawler body, turning track is anticipated closer to human pilot
Figure, reduces human pilot operation labor intensity, and cost is relatively low, little to the effect of attrition of drive axle.
Brief description
Fig. 1 is the discrete schematic diagram following turning track of the present invention；
Fig. 2 is the discrete flow chart following rotating direction control method of hydrostatic-mechanically driver type crawler body of the present invention.
【Primary clustering symbol description】
In 1 single discrete segment, drive axle turns to the chassis driving trace of inner side shift fork effect, is reduced to travel direction inside
Lateral deviation turns the straight-line travelling section of an angle；
The chassis driving trace of no drive axle shift fork effect, straight-line travelling section in 2 single discrete segments
3 theoretical steering tracks
Specific embodiment
With reference to the accompanying drawings and examples the specific embodiment of the present invention is described further, but not as
Limit.
Fig. 1 is the discrete schematic diagram following turning track of the present invention；Fig. 2 is the hydrostatic-mechanically driver type of the present invention
The discrete flow chart following rotating direction control method of crawler body.
Hydrostatic-mechanically driver type the crawler body of the present invention is discrete follow rotating direction control method be according to shift fork response and
Resetting time determines discrete minor time slice Δ t, is calculated by initial straight speed of operation v and steering wheel angle α according to Δ t
The theoretical steering cycle T discretization come, will course changing control problem be converted into how in each discrete minor time slice Δ t really
Determine the effect of shift fork so that the whole turning track of whole machine and steering angular speed omega and theoretical value close to.
Because steering procedure is based on the control intention of driver behavior personnel, so whole steering procedure relies on people
Participation.In order to reduce the complexity of control system and improve system reliability, reduce the abrasion of Mechanical Driven bridge and reduction is held
The acting frequency of row device, this control method is using the open loop control mode being not related to feedback control.
The real-time follower theory turning track 3 of actual chassis driving trace, theoretical steering track 3 is real according to theoretical steering process
Shi Bianhua, that is, according to when front chassis actual path is with respect to the position of current theoretical steering track 3, travel direction before every Δ t
Active state Deng the shift fork judging in this Δ t.Shift fork act as switching value, when the shift fork of side overcomes spring force to rotate, then
Crawler type power chassis fix around its inner track the rotary motion of radius, in each discrete time period Δ t independently
From the point of view of, the turning track shape of this process and crawler body travel direction corner constant.Because discrete time section is shorter, in model
This section of theoretical steering track 3 can be substituted with straight-line displacement, but after this process, the travel direction of whole machine has deflected one
The angle of individual fixation.If no shift fork effect, whole machine moves along a straight line, and the direction of motion does not change, in fixing discrete time
In section Δ t, operating range is also fixed value.The actual steering track of hydrostatic-mechanically driver type crawler belt power chassis can simplify
It is the curve of approximation being made up of several little straightways, as shown in figure 1, can be approximately several little in figure theoretical steering track 3
Straightway, described little straightway includes two kinds：Straight-line travelling section 2；Under the effect of inner side shift fork, inside lateral deviation turns an angle
Straight-line travelling section 1.Based on reducing the consideration to the abrasion of mechanical type drive axle, in actual control process, controller is to turning
After being judged to direction, only the shift fork turning to inner side is controlled.
The discrete rotating direction control method of following of hydrostatic-mechanically driver type crawler body of the present invention includes：
Pretreatment stage：Input initial straight speed of operation and steering wheel angle；Initial straight Travel vehicle according to input
Speed and steering wheel angle, crawler body structural parameters and road resistance parameter, calculate based on the turn around parameters under slide condition：
Steering angular velocity, inner track coiling speed and theoretical steering cycle；
The discretization stage：Responded according to Mechanical Driven bridge and determine discrete time section turnaround time, will according to discrete time section
Theoretical steering period discrete, obtains dispersion number, and then determines that in each discrete time section, crawler body theory travel direction turns
The traveling of the actual travel track of angle and operating range and the crawler body under the two states whether drive axle shift fork acts on
Distance and travel direction corner；
The stage is followed in steering：Before each discrete time section starts, calculate current crawler body travel direction and position with
The currently error between theoretical crawler body travel direction and position；According to judgment rule, determine shift fork active state；
Update currently practical and theoretical crawler body travel direction and position；
Actual Turning Track of Caterpillar Base Plate passes through to control shift fork active state in each discrete time section, real-time follower theory
Track, this track is according to theoretical steering process real-time change.
As shown in Fig. 2 hydrostatic-mechanically driver type the crawler body of the present invention is discrete follows rotating direction control method, specifically
Comprise the steps：
Pretreatment stage
A. initial straight speed of operation v, if crawler body is during Turning travel, initial straight Travel vehicle are inputted
Fast v is equal to and turns to outer track coiling linear velocity v1；Input direction disk corner α, determines that theoretical steering radius R and relative theory turn
To radius ρ；
B. the initial straight speed of operation v according to input and steering wheel angle α, road resistance parameter (road resistance coefficient f
With maximum turn resistance-coefficient μmax) and crawler body structural parameters (track length on ground length L, crawler body gauge B), meter
Calculate based on the every turn around parameters under slide condition, such as steering angular speed omega, inner track coiling speed v2With theoretical steering week
Phase T；
Turned to more precisely analyze it in the course changing control of hydrostatic-mechanically driver type crawler belt power chassis
Kinematics characteristic in journey, should be taken into account the slide condition of track length on ground.After considering slide condition, for given initial
Straight-line travelling speed v and steering wheel angle α, outer, the ratio K of inner track coiling speed under slide conditionv, steering angular speed omega
As follows with the calculating formula of theoretical steering cycle T：
In formula：
a1Outer track turns to laterally opposed side-play amount；
a2Inner track turns to laterally opposed side-play amount；
λ crawler body structural parameters, λ=L/B, L are track length on ground length, and B is to carry out
Band chassis gauge；
F road resistance coefficient；
μmaxMaximum turn resistance-coefficient；
In formula：
ρ relative steering, ρ=R/B, R are theoretical steering radius, and B is crawler body gauge；
a1Outer track turns to laterally opposed side-play amount；
a2Inner track turns to laterally opposed side-play amount；
λ crawler body structural parameters, λ=L/B；
KvOutward, the ratio of inner track coiling speed；
ω steering angular velocity；
v1Outer track coiling speed；
v2Inner track coiling speed, v2=v1/Kv；
A1Outer track turns to transversal displacement, A1=a1L/2；
A2Inner track turns to transversal displacement, A2=a2L/2；
T=2 π/ω (4)
ω steering angular velocity；
Calculate outer, inner track coiling speed the ratio K under slide condition by above-mentioned formula 1-4v, steering angular speed omega and
The concrete grammar of theoretical steering cycle T is as follows：
First, crawler body structural parameters λ, road resistance coefficient f, maximum turn resistance-coefficient μmaxFor known quantity, pass through
The two element equations of formula 1 can be obtained outer track and turn to laterally opposed side-play amount a1, inner track turn to laterally opposed skew
Amount a2；
Secondly, outer, inner track coiling speed ratio K can be obtained according to formula 2v, wherein, relative steering ρ, outside
Crawler belt turns to laterally opposed side-play amount a1, inner track turn to laterally opposed side-play amount a2, crawler body structural parameters λ is
The amount of knowing；
Then, transversal displacement A is turned to according to outer track1=a1L/2；Inner track turns to transversal displacement A2=
a2L/2；Inner track coiling speed v2=v1/Kv, outer track can be obtained respectively and turn to transversal displacement A1, inner track turns
To transversal displacement A2With inner track coiling speed v2；
Then, steering angular speed omega can be obtained according to formula 3, wherein, outer track turns to transversal displacement A1, inner side carry out
Band turns to transversal displacement A2, outer track coiling speed v1, inner track coiling speed v2It is with crawler body gauge B
The amount of knowing；
Finally, theoretical steering cycle T can be obtained according to formula 4.
The discretization stage
C. the discretization stage：Responded according to Mechanical Driven bridge and determine discrete time section Δ t turnaround time, according to Δ t reason
By turning to cycle T discretization, obtain discrete segment number N=T/ Δ t.When initial straight-line travelling speed v and steering wheel angle α input
Afterwards, crawler body theoretical steering track in each discrete time section Δ t theoretical travel direction corner and operating range by current
Car speed and Δ t determine；Meanwhile, actual according to crawler body is calculated based on the crawler body steer arithmetic under slide condition
Whether turning track drive axle shift fork in each discrete time section Δ t acts on the actual travel of the crawler body under two states
The operating range of track and travel direction corner；
The stage is followed in steering
D., before each discrete time section Δ t starts, current crawler body travel direction and position and currently theory are calculated
Error between crawler body travel direction and position, that is, take current crawler body travel direction and position and currently theoretical crawler belt
The absolute value of the difference between chassis travel direction and position；
E. according to judgment rule, determine drive axle shift fork active state；
Judgment rule as shown in Table 1 below, wherein RpInterval, the R for actual path position deviationθFor actual path deflection
Degree deviates interval.
Table 1 drive axle shift fork acts on judgment rule
Then according to the content in table 1, judgment rule is：Wherein RpLimit interval, R for actual path position deviationpThe upper limit be
(1+2.5%) ρ, lower limit is (1-2.5%) ρ, and wherein ρ is that (ρ=R/B, R are turning radius to relative steering, and B is track bottom
Disk gauge)；RθDeviate limit interval, R for actual path orientation angleθThe upper limit travel in discrete time section Δ t for actual path
Direction cornerLower limit is actual path travel direction corner in discrete time section Δ tWherein x is actual path
Travel direction corner and theory locus travel direction corner (theory locus in discrete time section Δ t in discrete time section Δ t
In discrete time section Δ t travel direction corner be 360 degree divided by discrete segment number N) difference absolute value.
If chassis position is more than RpThe interval upper limit, and travel direction is less than RθInterval limit, or chassis position is positioned at Rp
In interval upper and lower limit, or chassis position is less than RpInterval lower limit, and travel direction is not more than RθThe interval upper limit, all no shift fork
Effect；If chassis position is more than RpThe interval upper limit, and travel direction is not less than RθInterval limit, or chassis position is less than Rp
Interval lower limit, and travel direction is more than RθThe interval upper limit, then inner side shift fork effect.
F. currently practical and theoretical crawler body travel direction and position are updated；
G. judge whether the initial straight speed of operation v inputting and steering wheel angle α changes,
In this way, then epicycle control terminates, such as no, then jump to step d.
Claims (1)
1. a kind of hydrostatic-mechanically driver type crawler body discrete follow rotating direction control method it is characterised in that：It includes pre- place
The stage is followed in reason stage, discretization stage and steering, specifically includes following steps：
A. input initial straight speed of operation and steering wheel angle；
B. according to the initial straight speed of operation inputting, steering wheel angle, road resistance parameter and crawler body structural parameters,
Calculate based on the steering angular velocity under slide condition, inner track coiling speed and theoretical steering cycle；
C. according to Mechanical Driven bridge respond turnaround time determine discrete time section, according to discrete time section by the theoretical steering cycle from
Dispersion, obtains discrete segment number, so determine each discrete time section in crawler body theory travel direction corner and travel away from
From and the operating range of actual travel track of crawler body under the two states whether drive axle shift fork acts on and traveling
Direction corner；
D., before each discrete time section starts, current crawler body travel direction and position and currently theoretical crawler body are calculated
Error between travel direction and position；
E. according to judgment rule, determine drive axle shift fork active state；
In each discrete segment, described judgment rule is as follows：
If chassis position is more than the interval upper limit of actual path position deviation, and travel direction is inclined less than actual path orientation angle
From interval limit, or chassis position is located in the upper and lower limit of actual path position deviation interval, or chassis position is less than reality
Track position deviates interval lower limit, and travel direction is not more than actual path orientation angle and deviates the interval upper limit, all no shift fork
Effect；If chassis position is more than the interval upper limit of actual path position deviation, and travel direction is not less than actual path deflection
Degree deviates interval limit, or chassis position is less than the interval lower limit of actual path position deviation, and travel direction is more than reality
The course bearing angle deviating interval upper limit, then inner side shift fork effect；
F. currently practical and theoretical crawler body travel direction and position are updated；
G. judge the initial straight speed of operation inputting and whether change with steering wheel angle, in this way, then epicycle controls and terminates, such as
No, then jump to step d.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510459823.5A CN104986221B (en) | 2015-07-30 | 2015-07-30 | A kind of hydrostatic mechanically driver type crawler body is discrete to follow rotating direction control method |
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| CN201510459823.5A CN104986221B (en) | 2015-07-30 | 2015-07-30 | A kind of hydrostatic mechanically driver type crawler body is discrete to follow rotating direction control method |
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| CN104986221B true CN104986221B (en) | 2017-03-01 |
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| CN106809275B (en) * | 2017-02-15 | 2019-02-22 | 苏州萨伯工业设计有限公司 | Crawler equipment ratio rotating direction control method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2630079Y (en) * | 2003-07-30 | 2004-08-04 | 广西壮族自治区农业机械研究所 | Running steering device |
| CN102602453A (en) * | 2012-03-21 | 2012-07-25 | 章涛 | Travelling control system of hydraulic track chassis |
| CN104181923A (en) * | 2014-08-29 | 2014-12-03 | 武汉大学 | Intelligent automobile curve tracking method based on linear controller |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1803630B1 (en) * | 2005-12-28 | 2013-01-16 | Caterpillar SARL | Vehicle steering arrangement and method |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2630079Y (en) * | 2003-07-30 | 2004-08-04 | 广西壮族自治区农业机械研究所 | Running steering device |
| CN102602453A (en) * | 2012-03-21 | 2012-07-25 | 章涛 | Travelling control system of hydraulic track chassis |
| CN104181923A (en) * | 2014-08-29 | 2014-12-03 | 武汉大学 | Intelligent automobile curve tracking method based on linear controller |
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