CN110562321A - two-drive differential control method suitable for four-wheel trolley - Google Patents
two-drive differential control method suitable for four-wheel trolley Download PDFInfo
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- CN110562321A CN110562321A CN201910747708.6A CN201910747708A CN110562321A CN 110562321 A CN110562321 A CN 110562321A CN 201910747708 A CN201910747708 A CN 201910747708A CN 110562321 A CN110562321 A CN 110562321A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000004458 analytical method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
the invention relates to a two-drive differential control method suitable for a four-wheel trolley, which comprises the following steps of: step 1: setting the motion state of the chassis; step 2: and (4) calculating odometer data. The invention can realize the accurate control of the trolley.
Description
Technical Field
The invention relates to a differential control method, in particular to a two-drive differential control method suitable for a four-wheel trolley.
background
with the rapid development of advanced technologies in China, the research on intelligent robots becomes more popular, the application of the intelligent robots is more and more extensive, and the value of the intelligent robots is gradually highlighted. At present, a motor with an encoder is generally selected during the turning of the intelligent four-wheel trolley, and the turning is controlled by PID by acquiring the rotating speed of the motor at the current moment; in the low-cost motor without an encoder, a PWM value is usually given at will to realize turning, and the specific turning angle and radius are ignored, however, in the process of controlling turning, the turning angle and radius are also a key point, so that how to realize the turning control by applying the low-cost motor to the intelligent four-wheel vehicle is an important technical problem.
Disclosure of Invention
To solve the above technical problems, an object of the present invention is to provide a method for controlling a two-wheel drive differential speed of a four-wheel vehicle.
in order to achieve the purpose, the invention adopts the following technical scheme:
A method for controlling two-drive differential speed of four-wheel vehicle includes the following steps:
step 1: setting the motion state of the chassis;
Step 11: before operation, selecting the chassis type;
Step 12: after the selection is completed in step 11, selecting a chassis drive;
step 13: after the selection and installation in step 12 are completed, the linear velocity and the angular velocity in the X, Y direction thereof are set to zero processing;
Step 14: setting X, Y the linear and angular velocities;
step 15: obtaining the position in the direction of X, Y in the odometer and the rotation angle of the chassis;
Step 16: obtaining the linear speed and the rotation angular speed of the chassis in the direction X, Y;
Step 2: calculating odometer data;
step 21: reading the data of the chassis;
step 22: reading the speed and rotation direction information of the wheel in the data by using a state machine;
Step 23: calculating the rotation angle of the left/right wheel in a period of time;
step 24: calculating a distance that the left/right wheel moves over a period of time;
Step 25: and inputting the speed information of the two wheels in the differential model to obtain odometer data.
Preferably, the period of time involved in step 23 and step 24 is the same period of time.
preferably, in step 21, data transmission is performed through serial port data.
Preferably, the chassis drive in the four-wheel trolley is provided with an embedded platform which is connected through a serial port data line.
Preferably, the embedded platform is connected with the PC end through a network.
By the scheme, the invention at least has the following advantages:
the foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of the motion state of the chassis of the present invention;
fig. 2 is a flow chart of the calculation of odometry data of the invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
in order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Examples
As shown in figures 1 and 2 of the drawings,
a method for controlling two-drive differential speed of four-wheel vehicle includes the following steps:
step 1: setting the motion state of the chassis;
step 11: before operation, selecting the chassis type;
Step 12: after the selection is completed in step 11, selecting a chassis drive;
step 13: after the selection and installation in step 12 are completed, the linear velocity and the angular velocity in the X, Y direction thereof are set to zero processing;
step 14: setting X, Y the linear and angular velocities;
Step 15: obtaining the position in the direction of X, Y in the odometer and the rotation angle of the chassis;
Step 16: obtaining the linear speed and the rotation angular speed of the chassis in the direction X, Y;
Step 2: calculating odometer data;
Step 21: reading the data of the chassis;
step 22: reading the speed and rotation direction information of the wheel in the data by using a state machine;
Step 23: calculating the rotation angle of the left/right wheel in a period of time;
Step 24: calculating a distance that the left/right wheel moves over a period of time;
Step 25: and inputting the speed information of the two wheels in the differential model to obtain odometer data.
the time period involved in step 23 and step 24 in the present invention is the same time period.
In the present invention, data transmission is performed through serial port data in step 21.
the chassis drive in the four-wheel trolley is provided with an embedded platform which is connected through a serial port data line.
The embedded platform is connected with the PC end through the network.
example one
the serial port is used for sending the command, so that the expected speed and direction information can be conveniently sent to the trolley to enable the trolley to move according to the command. According to the serial port control instruction specification driven by the motor, a control command (character array) can be sent to the trolley through a SendData function in a chassis driving program, so that the trolley can move.
The serial port control instruction consists of an initial bit, a data bit and a reserved bit. The start bit is composed of two bytes of 0xFF 0 xFE. The data bits are composed of four bytes of data, namely, the speed of the wheel A, the speed of the wheel B, the motor direction of the wheel A and the motor direction of the wheel B, wherein the non-zero direction is the positive direction, the zero direction is the negative direction, the wheel A is the right wheel, and the wheel B is the left wheel.
The wheel speed data is the number of pulses rotating within 10ms, for example, tx 0 equals 0x12, which means that there are 18 pulses per 10ms, 1800 pulses within 1s, 11750 pulses per wheel revolution as known from the data of the cart itself, and the wheel speed is calculated to be about 0.1 m/s.
In the program, a variable charbuf [32] of a defined private member is used for storing control command information which is expected to be sent out by a serial port. The wheel RPM speed information is converted into the pulse number information of every 10ms to be transmitted in the SetRPM function, the speed information of two wheels a and B and the wheel rotation direction information are put into the buf array in the SetSpeedLR function, and then the top ten elements in the buf array are transmitted by using the SendData function.
the speed information of the two sending wheels is 0x12, the movement speed of the wheels is 0.1m/s by observing the movement of the wheels, and the serial port sends data successfully.
Realize the calculation of receiving data through the serial port
And receiving a data protocol according to a serial port control instruction driven by the motor, and detecting a start bit and receiving data of the rotating speed and the direction of the wheel by using a state machine.
For the Z-axis data, no analysis is received. For the motor speed direction, zero represents a positive direction, and the second represents a negative direction, and the motor speed direction is one when the wheels are in a stationary state, i.e., the speed is zero. In order to verify the format of the received data, the serial assistant sends the speed and direction information of the motor to the trolley and receives the data transmitted back by the serial port.
the data transmitted in the invention is 0x12 speed and negative direction of rotation, and the data FF FE 12021202000100017F FF received by the serial assistant is observed, and the speed and the direction are consistent.
after the data is sent, the data returned by the serial port is received, the ReadData function is used for reading the information, and the state machine is used for reading the information in the data string.
When the frame head (FF FE) is detected, the motion state of the A and B rounds is followed, and when the frame head is not detected, the state stays in the A state. The next example is the operation of sorting each data by the state machine after the serial port receives the data.
when the starting frame head is detected, each state records the data needing sorting respectively, and then waits for the arrival of the next frame head.
Mileage meter
the odometer is used for calculating the current position of the trolley and can measure the front and back displacement, the left and right displacement and the rotating angle of the trolley.
after data are received through the serial port and the current wheel movement speed and direction are obtained, if the direction is negative, the speed information is negative. The speed information returned by the serial port, namely the pulse numbers left _ speed _ ms and right _ speed _ ms of every 10ms, is read in a function GetDiffPos. By defining a time (time to read each data) in the GetDiffAngle function, the angular change at each time interval can be calculated.
dangle＝dt×left_speed/one_wheel_counts
wherein, Dangle: a time interval angle change;
And Dt: a time interval;
Left _ speed: the number of pulses in 1s, namely left _ speed _ ms 100, and the same applies to the right wheel;
One _ wheel _ counts: the number of pulses required for one wheel revolution (47 × 500 × 4/8 ═ 11750);
And finally, dividing the pulse number of each interval time by the pulse number required by one wheel revolution, namely the percentage of the turning angle in the interval time dt to 2 pi degrees.
the time interval information dt is 0.107s, the date is 0.016 by the above relation, the actual date is 0.0164 by printing information in the program, the error is 2.5%, and is within 3%, and the result is correct within the error allowance.
the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (5)
1. A method for controlling two-drive differential speed of a four-wheel trolley is characterized by comprising the following steps:
step 1: setting the motion state of the chassis;
Step 11: before operation, selecting the chassis type;
step 12: after the selection is completed in step 11, selecting a chassis drive;
Step 13: after the selection and installation in step 12 are completed, the linear velocity and the angular velocity in the X, Y direction thereof are set to zero processing;
Step 14: setting X, Y the linear and angular velocities;
step 15: obtaining the position in the direction of X, Y in the odometer and the rotation angle of the chassis;
step 16: obtaining the linear speed and the rotation angular speed of the chassis in the direction X, Y;
step 2: calculating odometer data;
step 21: reading the data of the chassis;
Step 22: reading the speed and rotation direction information of the wheel in the data by using a state machine;
Step 23: calculating the rotation angle of the left/right wheel in a period of time;
step 24: calculating a distance that the left/right wheel moves over a period of time;
Step 25: and inputting the speed information of the two wheels in the differential model to obtain odometer data.
2. the method for controlling the two-wheel drive differential speed of a four-wheel vehicle according to claim 1, wherein: the period of time involved in step 23 and step 24 is the same period of time.
3. the method of claim 1, wherein the differential speed control comprises: and in the step 21, data transmission is performed through serial port data.
4. the method of claim 1, wherein the differential speed control comprises: the chassis drive in the four-wheel trolley is provided with an embedded platform which is connected through a serial port data line.
5. The method of claim 4, wherein the differential speed control comprises: the embedded platform is connected with the PC end through a network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910747708.6A CN110562321A (en) | 2019-08-14 | 2019-08-14 | two-drive differential control method suitable for four-wheel trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910747708.6A CN110562321A (en) | 2019-08-14 | 2019-08-14 | two-drive differential control method suitable for four-wheel trolley |
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| CN110562321A true CN110562321A (en) | 2019-12-13 |
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| CN201910747708.6A Pending CN110562321A (en) | 2019-08-14 | 2019-08-14 | two-drive differential control method suitable for four-wheel trolley |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090132126A1 (en) * | 2007-11-20 | 2009-05-21 | Jtekt Corporation | Electric power steering device |
| CN103383570A (en) * | 2013-06-25 | 2013-11-06 | 天奇自动化工程股份有限公司 | Automatic guided vehicle capable of moving in all directions |
| CN106020200A (en) * | 2016-07-07 | 2016-10-12 | 江苏上骐集团有限公司 | AGV driven by wheel hub motor and its path planning method |
| CN107544512A (en) * | 2017-09-30 | 2018-01-05 | 江西洪都航空工业集团有限责任公司 | A kind of differential turning control for intelligent lorry |
-
2019
- 2019-08-14 CN CN201910747708.6A patent/CN110562321A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090132126A1 (en) * | 2007-11-20 | 2009-05-21 | Jtekt Corporation | Electric power steering device |
| CN103383570A (en) * | 2013-06-25 | 2013-11-06 | 天奇自动化工程股份有限公司 | Automatic guided vehicle capable of moving in all directions |
| CN106020200A (en) * | 2016-07-07 | 2016-10-12 | 江苏上骐集团有限公司 | AGV driven by wheel hub motor and its path planning method |
| CN107544512A (en) * | 2017-09-30 | 2018-01-05 | 江西洪都航空工业集团有限责任公司 | A kind of differential turning control for intelligent lorry |
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Application publication date: 20191213 |
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