CN107463098B - Intelligent trolley speed control method and device based on quadratic function - Google Patents
Intelligent trolley speed control method and device based on quadratic function Download PDFInfo
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- CN107463098B CN107463098B CN201710912340.5A CN201710912340A CN107463098B CN 107463098 B CN107463098 B CN 107463098B CN 201710912340 A CN201710912340 A CN 201710912340A CN 107463098 B CN107463098 B CN 107463098B
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- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The invention discloses an intelligent trolley speed control method based on a quadratic function, which comprises the following steps: constructing a quadratic function between the speed of the intelligent trolley and the steering pulse quantity of the steering engine; acquiring a quadratic term coefficient, a first-order term coefficient and a constant of the quadratic function according to the acquired steering engine steering pulse quantity left limit value, steering engine steering pulse quantity right limit value, maximum driving speed and safe driving speed to obtain an initial expression of the quadratic function; and debugging the quadratic term coefficient, the primary term coefficient and the constant according to the running state of the intelligent trolley, and obtaining a final expression of the quadratic function between the speed of the intelligent trolley and the steering pulse quantity of the steering engine. The invention provides a speed control method for expressing the change relation of real-time speed of an intelligent trolley along with steering pulse quantity of a steering engine by a quadratic function; and only one parameter needs to be adjusted during debugging, so that the parameter setting time is greatly shortened, and the parameter setting efficiency is improved.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a method and a device for controlling the speed of an intelligent trolley based on a quadratic function.
Background
The intelligent car needs to pass through various complex road elements such as straight roads, curved roads, large S curved roads, small S curved roads, crosses, right angles, roundabouts and the like in a match. In order to ensure that the intelligent trolley runs stably on the whole track, the upper limit safety speed of the track is required to be set on different track elements. The purpose of controlling the speed of the intelligent trolley is to enable the intelligent trolley to show different characteristics in different track elements, namely, the intelligent trolley can give proper speed in different track elements, and the intelligent trolley speed control method comprises the following steps: the intelligent trolley can show the strongest acceleration characteristic as far as possible when entering a straight road; when the car runs on a curve, the car can accurately and smoothly track the path at the maximum safe speed, so that the car can pass through the track at the fastest speed, and simultaneously, the car cannot rush out of the track or press the track. In the speed control process, the relation between the speed and the steering engine steering pulse quantity is very important, under the condition that the steering engine steering pulse quantity is certain, the intelligent vehicle can be rushed out of a runway due to too high speed, and the intelligent vehicle cannot successfully turn a curve due to too low speed. In the prior art, no good method can be used for directly correlating the speed of the intelligent trolley with the steering pulse quantity of the steering engine.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for controlling a speed of an intelligent vehicle based on a quadratic function, which directly relate a real-time speed of the intelligent vehicle to a steering pulse amount of a steering engine.
Based on the above purpose, the invention provides an intelligent vehicle speed control method based on a quadratic function, which comprises the following steps:
constructing a quadratic function between the speed of the intelligent trolley and the steering pulse quantity of the steering engine;
acquiring a left limit value of steering pulse quantity of a steering engine, a right limit value of steering pulse quantity of the steering engine, a maximum driving speed and a safe driving speed of the intelligent trolley;
acquiring a quadratic term coefficient, a first-order term coefficient and a constant of the quadratic function according to the steering engine steering pulse quantity left limit value, the steering engine steering pulse quantity right limit value, the maximum driving speed and the safe driving speed to obtain an initial expression of the quadratic function;
and enabling the intelligent trolley to run according to the initial expression, debugging the secondary term coefficient, the primary term coefficient and the constant according to a running state, and obtaining a final expression of the secondary function.
Further, the steering engine that obtains intelligent vehicle turns to impulse quantity left limit value, steering engine and turns to impulse quantity right limit value, maximum speed and the safe speed of traveling includes:
acquiring pulse quantity in a sampling period when a steering engine of the intelligent trolley is set to be in a left limit rotation angle, and taking the pulse quantity as a steering engine steering pulse quantity left limit value L EFT _ max;
acquiring pulse quantity in a sampling period when a steering engine of the intelligent trolley is set to be in a RIGHT limit corner, and taking the pulse quantity as a steering engine steering pulse quantity RIGHT limit value RIGHT _ max;
acquiring the maximum Speed which can be reached by the intelligent trolley when the intelligent trolley stably runs on a straight road, and taking the maximum Speed as the maximum running Speed;
acquiring the Speed of the intelligent trolley which internally contacts along the central line of the minimum circular track when the steering engine of the intelligent trolley is set to be a left limit corner or a right limit corner, and taking the Speed as the safe driving Speed _ safe;
the steering engine steering pulse amount left limit value L EFT _ max and the steering engine steering pulse amount RIGHT limit value RIGHT _ max are equal in size and opposite in direction, namely L EFT _ max is-RIGHT _ max.
Further, the obtaining of the quadratic term coefficient, the first order coefficient and the constant of the quadratic function according to the steering engine steering pulse quantity left limit value, the steering engine steering pulse quantity right limit value, the maximum driving speed and the safe driving speed includes:
fitting according to three points (steering engine steering pulse left limit value L EFT _ max, safe driving Speed _ safe), (0, maximum driving Speed _ fast) and (steering engine steering pulse RIGHT limit value RIGHT _ max, safe driving Speed _ safe) to obtain a quadratic term coefficient, a first order term coefficient and a constant of the quadratic function, so as to obtain the quadratic function, wherein the quadratic function is as follows:
speed (t) is the speed of the intelligent trolley, and PWM (t) is the steering pulse quantity of the steering engine;
and acquiring initial values of the steering engine steering pulse quantity left limit value L EFT _ max, the steering engine steering pulse quantity RIGHT limit value RIGHT _ max, the maximum driving Speed and the safe driving Speed safe, and substituting the initial values into the quadratic function to obtain an initial expression of the quadratic function.
Further, the debugging the quadratic term coefficient, the primary term coefficient and the constant according to the driving state of the intelligent trolley to obtain a final expression of a quadratic function between the speed of the intelligent trolley and the steering pulse quantity of the steering engine comprises the following steps: and finely adjusting the numerical value of the maximum driving Speed _ fast according to the driving state of the intelligent trolley to obtain the quadratic coefficient and the final value of the constant, so as to obtain a final expression of a quadratic function between the Speed of the intelligent trolley and the steering pulse quantity of the steering engine.
Further, the initial value of the maximum driving Speed _ fast is the limit Speed of the motor of the intelligent vehicle multiplied by eighty percent.
The invention also provides an intelligent trolley speed control device based on the quadratic function, which comprises:
the building module is used for building a quadratic function between the speed of the intelligent trolley and the steering pulse quantity of the steering engine;
the acquisition module is used for acquiring a steering engine steering pulse quantity left limit value, a steering engine steering pulse quantity right limit value, a maximum driving speed and a safe driving speed of the intelligent trolley;
the function generating module is used for acquiring a quadratic term coefficient, a first-order term coefficient and a constant of the quadratic function according to the steering engine steering pulse quantity left limit value, the steering engine steering pulse quantity right limit value, the maximum driving speed and the safe driving speed to obtain an initial expression of the quadratic function;
and the debugging module is used for enabling the intelligent trolley to run according to the initial expression, debugging the secondary term coefficient, the primary term coefficient and the constant according to a running state and acquiring a final expression of the secondary function.
Preferably, the obtaining module is further configured to:
acquiring pulse quantity in a sampling period when a steering engine of the intelligent trolley is set to be in a left limit rotation angle, and taking the pulse quantity as a steering engine steering pulse quantity left limit value L EFT _ max;
acquiring pulse quantity in a sampling period when a steering engine of the intelligent trolley is set to be in a RIGHT limit corner, and taking the pulse quantity as a steering engine steering pulse quantity RIGHT limit value RIGHT _ max;
acquiring the maximum Speed which can be reached by the intelligent trolley when the intelligent trolley stably runs on a straight road, and taking the maximum Speed as the maximum running Speed;
acquiring the Speed of the intelligent trolley which internally contacts along the central line of the minimum circular track when the steering engine of the intelligent trolley is set to be a left limit corner or a right limit corner, and taking the Speed as the safe driving Speed _ safe;
the steering engine steering pulse amount left limit value L EFT _ max and the steering engine steering pulse amount RIGHT limit value RIGHT _ max are equal in size and opposite in direction, namely L EFT _ max is-RIGHT _ max.
Preferably, the function generation module is further configured to:
fitting according to three points (steering engine steering pulse left limit value L EFT _ max, safe driving Speed _ safe), (0, maximum driving Speed _ fast) and (steering engine steering pulse RIGHT limit value RIGHT _ max, safe driving Speed _ safe) to obtain a quadratic term coefficient, a first order term coefficient and a constant of the quadratic function, so as to obtain the quadratic function, wherein the quadratic function is as follows:
speed (t) is the speed of the intelligent trolley, and PWM (t) is the steering pulse quantity of the steering engine;
and acquiring initial values of the steering engine steering pulse quantity left limit value L EFT _ max, the steering engine steering pulse quantity RIGHT limit value RIGHT _ max, the maximum driving Speed and the safe driving Speed safe, and substituting the initial values into the quadratic function to obtain an initial expression of the quadratic function.
Preferably, the debugging module is further configured to:
and finely adjusting the numerical value of the maximum driving Speed _ fast according to the driving state of the intelligent trolley to obtain the quadratic coefficient and the final value of the constant, so as to obtain a final expression of a quadratic function between the Speed of the intelligent trolley and the steering pulse quantity of the steering engine.
Preferably, the initial value of the maximum driving Speed _ fast acquired by the function generation module is the limit Speed of the motor of the intelligent vehicle multiplied by eighty percent.
From the above, the method and the device for controlling the speed of the intelligent trolley based on the quadratic function provided by the invention provide a speed control method for expressing the change relation of the real-time speed of the intelligent trolley along with the steering pulse quantity of the steering engine by the quadratic function; the qualitative and quantitative debugging method for each coefficient of the quadratic function is provided, only one parameter needs to be adjusted, the parameter setting time is greatly shortened, and the parameter setting efficiency is improved; the method has good adaptability, and can dynamically adjust the speed according to the steering degree of the vehicle, so that the speed of the trolley is well matched with the steering of the intelligent trolley; the method is simple and easy to implement, can reduce the loss of the vehicle in the debugging process, and reduces the design cost.
Drawings
FIG. 1 is a curve showing the change of speed with steering pulse amount of a steering engine according to an embodiment of the present invention;
FIG. 2 is a flow chart of an intelligent vehicle speed control method based on a quadratic function according to an embodiment of the invention;
fig. 3 is a schematic structural diagram of an intelligent vehicle speed control device based on a quadratic function according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are used for distinguishing two entities with the same name but different names or different parameters, and it should be noted that "first" and "second" are merely for convenience of description and should not be construed as limitations of the embodiments of the present invention, and they are not described in any more detail in the following embodiments.
The curve function of the speed changing along with the change of the steering pulse quantity of the steering engine is represented by a quadratic function, the most critical factor influencing the speed is the deviation degree of the center line of the track, but the processing of some special track elements such as crosses, roundabout-entering elements and roundabout-exiting elements is not processed according to the seen position of the center line but processed according to the special steering of a certain element. But it is certain that in order to enable the intelligent trolley to pass through the track more quickly and safely, when the steering amount of the steering engine deflection is maximum, the speed is minimum; when the steering amount of the steering engine deflection is zero, the speed is the largest, and in consideration of the smoothness of speed change, three points are given to obtain coefficients of a quadratic function through fitting, and the coefficients are shown in the attached drawing 1.
FIG. 2 is a flow chart of an intelligent vehicle speed control method based on a quadratic function according to an embodiment of the invention. The embodiment of the invention discloses an intelligent trolley speed control method based on a quadratic function, which comprises the following steps:
and S101, constructing a quadratic function between the speed of the intelligent trolley and the steering pulse quantity of the steering engine.
S102, acquiring a steering engine steering pulse quantity left limit value, a steering engine steering pulse quantity right limit value, a maximum driving speed and a safe driving speed of the intelligent trolley.
S103, obtaining a quadratic term coefficient, a first order term coefficient and a constant of the quadratic function according to the steering engine steering pulse quantity left limit value, the steering engine steering pulse quantity right limit value, the maximum driving speed and the safe driving speed, and obtaining an initial expression of the quadratic function.
And S104, debugging the quadratic term coefficient, the primary term coefficient and the constant according to the running state of the intelligent trolley, and obtaining a final expression of the quadratic function between the speed of the intelligent trolley and the steering pulse quantity of the steering engine.
As another embodiment of the present invention, the step S102 of obtaining the steering engine steering pulse quantity left limit value, the steering engine steering pulse quantity right limit value, the maximum driving speed and the safe driving speed of the intelligent car includes:
s201, acquiring pulse quantity in a sampling period when the steering engine of the intelligent trolley is set to be a left limit rotation angle, and taking the pulse quantity as a steering engine steering pulse quantity left limit value L EFT _ max.
S202, acquiring the pulse quantity in a sampling period when the steering engine of the intelligent trolley is set to be the RIGHT limit corner, and taking the pulse quantity as the steering engine steering pulse quantity RIGHT limit value RIGHT _ max.
S203, acquiring the maximum Speed which can be reached by the intelligent trolley when the intelligent trolley runs stably on a straight road, and taking the maximum Speed as the maximum running Speed.
And S204, acquiring the Speed of the intelligent trolley which runs along the inner tangent of the central line of the minimum circular track when the steering engine of the intelligent trolley is set to be a left limit corner or a right limit corner, and taking the Speed as the safe running Speed _ safe.
The steering pulse quantity left limit value L EFT _ max and the steering pulse quantity RIGHT limit value RIGHT _ max are equal in size and opposite in direction due to the fact that the capacity of the steering engine of the intelligent trolley is symmetrical left and RIGHT, namely, the sequence of the steps S201 to S204 can be modified at will, wherein the L EFT _ max is-RIGHT _ max.
As another embodiment of the present invention, in step S103, obtaining a quadratic coefficient, a first order coefficient, and a constant of the quadratic function according to the steering engine steering pulse quantity left limit value, the steering engine steering pulse quantity right limit value, the maximum driving speed, and the safe driving speed to obtain an initial expression of the quadratic function includes:
s301, fitting according to three points (steering engine steering pulse amount left limit value L EFT _ max, safe driving Speed _ safe), (0, maximum driving Speed _ fast) and (steering engine steering pulse amount RIGHT limit value RIGHT _ max, safe driving Speed _ safe) to obtain a quadratic term coefficient, a first order term coefficient and a constant of the quadratic function, and obtaining the quadratic function, wherein the quadratic function is:
speed (t) is the Speed of the intelligent vehicle, and pwm (t) is the steering engine steering pulse quantity (the steering engine steering pulse quantity left limit value L EFT _ max, the safe driving Speed _ safe), (the steering engine steering pulse quantity RIGHT limit value RIGHT _ max, and the safe driving Speed _ safe) indicates that when the steering engine of the intelligent vehicle is set to the left limit rotation angle L EFT _ max or the RIGHT limit rotation angle RIGHT _ max, the intelligent vehicle is at the safe Speed (0, the maximum driving Speed _ fast) indicates that the intelligent vehicle is at the maximum driving Speed _ fast when the intelligent vehicle is not deflected during straight-road driving.
S302, acquiring initial values of the steering engine steering pulse amount left limit value L EFT _ max, the steering engine steering pulse amount RIGHT limit value RIGHT _ max, the maximum driving Speed _ fast and the safe driving Speed _ safe, and substituting the initial values into the quadratic function to obtain an initial expression of the quadratic function.
The steering wheel steering pulse quantity left limit value L EFT _ max and the steering wheel steering pulse quantity RIGHT limit value RIGHT _ max are initial values related to the performance of the steering wheel, are physical parameters of the steering wheel and are easy to measure, the maximum driving Speed is a safe Speed which can be run by the maximum steering capacity of the steering wheel and is tested according to the capacity of a motor and the characteristics of tires and track materials of the intelligent trolley, and in a specific embodiment, the initial value of the maximum driving Speed is the limit Speed of the motor of the intelligent trolley multiplied by eighty percent.
The specific method for determining the safe driving Speed _ safe comprises the following steps: and estimating the highest safe speed of the intelligent car on a small annular track. In one particular embodiment, the mini-circle racetrack has a radius of 50 cm. During measurement, a steering engine of the intelligent trolley is set to be a fixed left limit corner or a fixed right limit corner; when the trolley runs at a slow speed, the trolley can turn out a ring with a small radius; with the increase of the speed, the radius of a ring which runs out of the intelligent trolley is larger and larger; when the intelligent trolley runs out of the loop which is just tangent to the central line of the track and the trolley can run stably without sideslip, the Speed value at the moment is recorded as the safe running Speed _ safe. The safe running speed is not fully utilized if the intelligent trolley runs out of the interior contact ring, the trolley cannot run out of the highest speed, and the competition cannot be finished at the highest speed; and if the running ring is externally tangent, the safety speed is already exceeded, the unstable speed is reached, and the trolley is easy to sideslip and even press the line or rush out of the track.
Furthermore, after the initial expression of the quadratic function is obtained, the coefficients of each item need to be debugged, so as to obtain a better representation speedAnd the function of the change relation of the steering pulse quantity of the steering engine. In this embodiment, in step 104, the debugging the quadratic term coefficient, the primary term coefficient, and the constant according to the driving state of the smart car to obtain a final expression of a quadratic function between the speed of the smart car and the steering pulse amount of the steering engine includes: according to the driving state of the intelligent vehicle, fine-tuning the value of the maximum driving Speed _ fast to obtain the secondary item coefficient
Firstly, the primary term coefficient is 0, debugging is not needed, the secondary term coefficient and the constants only comprise Speed _ fast, Speed _ safe, left limit capacity L EFT _ max and RIGHT limit capacity RIGHT _ max of the steering engine, L EFT _ max and RIGHT _ max are physical parameters of the steering engine, the Speed _ safe is a safe Speed which can be taken out by the maximum steering capacity of the steering engine and is tested according to the capacity of a motor and the characteristics of tires and ground materials of the vehicle, once the materials of the wheels, the steering engine and the field are determined, the determined quantities are compared, the value of the Speed _ fast only needs to be modified according to the conditions, analysis is carried out by combining with L AB, if the vehicle flies in a straight road, the value of the Speed _ fast Speed is reduced, the intelligent vehicle can be stably obtained in all racing lanes, the Speed of the Speed _ fast Speed is adjusted according to the condition, the Speed of the vehicle can be quickly adjusted when the Speed of the vehicle flies in a straight road, the Speed of the intelligent race lane can be stably obtained, and the Speed of the vehicle can be quickly adjusted when the Speed of the Speed-Speed loop is adjusted, the Speed-Speed loop can be quickly adjusted when the vehicle, the Speed-.
The embodiment of the invention also provides an intelligent trolley speed control device based on the quadratic function, which comprises:
and the building module 10 is used for building a quadratic function between the speed of the intelligent trolley and the steering pulse quantity of the steering engine.
The acquisition module 11 is used for acquiring a steering engine steering pulse quantity left limit value, a steering engine steering pulse quantity right limit value, a maximum driving speed and a safe driving speed of the intelligent trolley.
And the function generating module 12 is configured to obtain a quadratic term coefficient, a first-order term coefficient, and a constant of the quadratic function according to the steering engine steering pulse quantity left limit value, the steering engine steering pulse quantity right limit value, the maximum driving speed, and the safe driving speed, and obtain an initial expression of the quadratic function.
And the debugging module 13 is used for debugging the quadratic term coefficient, the primary term coefficient and the constant according to the driving state of the intelligent trolley and acquiring a final expression of the quadratic function between the speed of the intelligent trolley and the steering pulse quantity of the steering engine.
Preferably, the obtaining module 11 is further configured to:
and acquiring the pulse quantity in the sampling period when the steering engine of the intelligent trolley is set to be in a left limit rotation angle, and taking the pulse quantity as a steering engine steering pulse quantity left limit value L EFT _ max.
And acquiring the pulse quantity in the sampling period when the steering engine of the intelligent trolley is set to be the RIGHT limit corner, and taking the pulse quantity as the steering engine steering pulse quantity RIGHT limit value RIGHT _ max.
And acquiring the maximum Speed which can be reached by the intelligent trolley when the intelligent trolley runs stably on a straight road, and taking the maximum Speed as the maximum running Speed.
And when the steering engine of the intelligent trolley is set to be a left limit corner or a right limit corner, the Speed of the intelligent trolley which runs along the inner tangent of the central line of the minimum circular track is obtained and used as the safe running Speed _ safe.
The steering engine steering pulse amount left limit value L EFT _ max and the steering engine steering pulse amount RIGHT limit value RIGHT _ max are equal in size and opposite in direction, namely L EFT _ max is-RIGHT _ max.
Preferably, the function generating module 12 is further configured to:
fitting according to three points (L EFT _ max, Speed _ safe), (0, Speed _ fast) and (RIGHT _ max, Speed _ safe) to obtain a quadratic coefficient, a first-order coefficient and a constant of the quadratic function, and obtaining the quadratic function, wherein the quadratic function is:
speed (t) is the speed of the intelligent trolley, and PWM (t) is the steering pulse quantity of the steering engine;
and acquiring initial values of the steering engine steering pulse quantity left limit value L EFT _ max, the steering engine steering pulse quantity RIGHT limit value RIGHT _ max, the maximum driving Speed and the safe driving Speed safe, and substituting the initial values into the quadratic function to obtain an initial expression of the quadratic function.
Preferably, the debugging module 13 is further configured to:
and finely adjusting the numerical value of the maximum driving Speed _ fast according to the driving state of the intelligent trolley to obtain the quadratic coefficient and the final value of the constant, so as to obtain a final expression of a quadratic function between the Speed of the intelligent trolley and the steering pulse quantity of the steering engine.
Preferably, the initial value of the maximum driving Speed _ fast acquired by the function generation module 13 is the limit Speed of the motor of the intelligent vehicle multiplied by eighty percent.
The invention discloses a method and a device for controlling the speed of an intelligent trolley based on a quadratic function, and provides a speed control method for expressing the change relation of the real-time speed of the intelligent trolley along with the steering pulse quantity of a steering engine by the quadratic function; the qualitative and quantitative debugging method for each coefficient of the quadratic function is provided, only one parameter needs to be adjusted, the parameter setting time is greatly shortened, and the parameter setting efficiency is improved; the method has good adaptability, and can dynamically adjust the speed according to the steering degree of the vehicle, so that the speed of the trolley is well matched with the steering of the intelligent trolley; the intelligent trolley is controlled to have better acceleration and deceleration effects, and can be controlled to stably and rapidly accelerate when the intelligent trolley enters a bend and stably and rapidly accelerate when the intelligent trolley exits the bend according to the requirements of the intelligent trolley; the method is simple and easy to implement, can reduce the loss of the vehicle in the debugging process, and reduces the design cost.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the invention, also features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
In addition, well known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures for simplicity of illustration and discussion, and so as not to obscure the invention. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the invention, and also in view of the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the present invention is to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the invention, it should be apparent to one skilled in the art that the invention can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.
The embodiments of the invention are intended to embrace all such alternatives, modifications and variances that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements and the like that may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (6)
1. A method for controlling the speed of an intelligent trolley based on a quadratic function is characterized by comprising the following steps:
constructing a quadratic function between the speed of the intelligent trolley and the steering pulse quantity of the steering engine;
acquiring a left limit value of steering pulse quantity of a steering engine, a right limit value of steering pulse quantity of the steering engine, a maximum driving speed and a safe driving speed of the intelligent trolley;
acquiring a quadratic term coefficient, a first-order term coefficient and a constant of the quadratic function according to the steering engine steering pulse quantity left limit value, the steering engine steering pulse quantity right limit value, the maximum driving speed and the safe driving speed to obtain an initial expression of the quadratic function;
enabling the intelligent trolley to run according to the initial expression, debugging the secondary term coefficient, the primary term coefficient and the constant according to a running state, and obtaining a final expression of the secondary function;
the method for acquiring the steering pulse quantity left limit value, the steering pulse quantity RIGHT limit value, the maximum driving Speed and the safe driving Speed of the intelligent trolley comprises the steps of acquiring the pulse quantity in a sampling period when the steering engine of the intelligent trolley is set to be a left limit corner, taking the pulse quantity as L EFT _ max of the steering pulse quantity left limit value, acquiring the pulse quantity in the sampling period when the steering engine of the intelligent trolley is set to be a RIGHT limit corner, taking the pulse quantity as RIGHT _ max of the steering pulse quantity RIGHT limit value, acquiring the maximum Speed which can be reached by the intelligent trolley when the intelligent trolley stably drives on a straight road, taking the maximum driving Speed Speed _ fast, acquiring the Speed which the intelligent trolley drives along the central line of a minimum circular track when the steering engine of the intelligent trolley is set to be the left limit corner or the RIGHT limit corner, and taking the Speed as the safe driving Speed Speed _ safe, wherein the steering pulse quantity left limit value L EFT _ max of the steering engine is equal to the steering pulse quantity RIGHT limit value RIGHT _ max, and the directions are opposite, namely L EFT _ max is-RIGHT _ max;
the obtaining of the quadratic term coefficient, the first order coefficient and the constant of the quadratic function according to the steering engine steering pulse quantity left limit value, the steering engine steering pulse quantity right limit value, the maximum driving speed and the safe driving speed includes:
fitting according to three points (steering engine steering pulse left limit value L EFT _ max, safe driving Speed _ safe), (0, maximum driving Speed _ fast) and (steering engine steering pulse RIGHT limit value RIGHT _ max, safe driving Speed _ safe) to obtain a quadratic term coefficient, a first order term coefficient and a constant of the quadratic function, so as to obtain the quadratic function, wherein the quadratic function is as follows:
speed (t) is the speed of the intelligent trolley, and PWM (t) is the steering pulse quantity of the steering engine;
and acquiring initial values of the steering engine steering pulse quantity left limit value L EFT _ max, the steering engine steering pulse quantity RIGHT limit value RIGHT _ max, the maximum driving Speed and the safe driving Speed safe, and substituting the initial values into the quadratic function to obtain an initial expression of the quadratic function.
2. The intelligent vehicle speed control method based on the quadratic function according to claim 1, wherein the step of debugging the quadratic coefficient, the first order coefficient and the constant according to the driving state of the intelligent vehicle to obtain a final expression of the quadratic function between the speed of the intelligent vehicle and the steering engine steering pulse quantity comprises the steps of: and finely adjusting the numerical value of the maximum driving Speed _ fast according to the driving state of the intelligent trolley to obtain the quadratic coefficient and the final value of the constant, so as to obtain a final expression of a quadratic function between the Speed of the intelligent trolley and the steering pulse quantity of the steering engine.
3. The quadratic function-based smart car Speed control method according to claim 1, characterized in that the initial value of the maximum travel Speed _ fast is a limit Speed of a motor of the smart car multiplied by eighty percent.
4. The utility model provides an intelligent vehicle speed control device based on quadratic function which characterized in that includes:
the building module is used for building a quadratic function between the speed of the intelligent trolley and the steering pulse quantity of the steering engine;
the acquisition module is used for acquiring a steering engine steering pulse quantity left limit value, a steering engine steering pulse quantity right limit value, a maximum driving speed and a safe driving speed of the intelligent trolley;
the function generating module is used for acquiring a quadratic term coefficient, a first-order term coefficient and a constant of the quadratic function according to the steering engine steering pulse quantity left limit value, the steering engine steering pulse quantity right limit value, the maximum driving speed and the safe driving speed to obtain an initial expression of the quadratic function;
the debugging module is used for enabling the intelligent trolley to run according to the initial expression, debugging the secondary term coefficient, the primary term coefficient and the constant according to a running state and obtaining a final expression of the secondary function;
the acquisition module is further used for acquiring pulse quantity in a sampling period when a steering engine of the intelligent trolley is set to be in a left limit corner as a steering pulse quantity left limit value L EFT _ max of the steering engine, acquiring pulse quantity in the sampling period when the steering engine of the intelligent trolley is set to be in a RIGHT limit corner as a steering pulse quantity RIGHT limit value RIGHT _ max of the steering engine, acquiring the maximum Speed which can be reached by the intelligent trolley when the intelligent trolley runs stably on a straight road as the maximum running Speed Speed _ fast, and acquiring the Speed of the intelligent trolley running internally along the central line of a minimum circular track when the steering engine of the intelligent trolley is set to be in the left limit corner or the RIGHT limit corner as the safe running Speed Speed _ safe, wherein the steering engine steering quantity left limit value L EFT _ max is equal to the steering pulse quantity RIGHT limit value RIGHT _ max of the steering engine in size and opposite in direction, namely L EFT _ max is-RIGHT _ max;
the function generation module is further used for fitting according to three points (steering engine steering pulse quantity left limit value L EFT _ max, safe driving Speed _ safe), (0, maximum driving Speed _ fast) and (steering engine steering pulse quantity RIGHT limit value RIGHT _ max, safe driving Speed _ safe) to obtain a quadratic term coefficient, a first-order term coefficient and a constant of the quadratic function, and obtaining the quadratic function, wherein the quadratic function is as follows:
speed (t) is the speed of the intelligent trolley, and PWM (t) is the steering pulse quantity of the steering engine;
and acquiring initial values of the steering engine steering pulse quantity left limit value L EFT _ max, the steering engine steering pulse quantity RIGHT limit value RIGHT _ max, the maximum driving Speed and the safe driving Speed safe, and substituting the initial values into the quadratic function to obtain an initial expression of the quadratic function.
5. The intelligent cart speed control device based on quadratic function according to claim 4, characterized in that the debugging module is further used for:
and finely adjusting the numerical value of the maximum driving Speed _ fast according to the driving state of the intelligent trolley to obtain the quadratic coefficient and the final value of the constant, so as to obtain a final expression of a quadratic function between the Speed of the intelligent trolley and the steering pulse quantity of the steering engine.
6. The intelligent vehicle Speed control device based on quadratic function according to claim 4, characterized in that the initial value of the maximum driving Speed _ fast obtained by the function generation module is the limit Speed of the motor of the intelligent vehicle multiplied by eighty percent.
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