CN113561718B - Control system and method for running mechanism of amphibious vehicle - Google Patents
Control system and method for running mechanism of amphibious vehicle Download PDFInfo
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- CN113561718B CN113561718B CN202110913632.7A CN202110913632A CN113561718B CN 113561718 B CN113561718 B CN 113561718B CN 202110913632 A CN202110913632 A CN 202110913632A CN 113561718 B CN113561718 B CN 113561718B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a control system of a travelling mechanism of an amphibious vehicle, which comprises a whole vehicle controller and a power system, wherein the power system comprises a power system control part and a power system executing mechanism, the power system control part is connected with the power system executing mechanism, the output end of the whole vehicle controller is connected with the power system control part, and the power system outputs power to the travelling mechanism; the travelling mechanism comprises a plurality of pairs of wheels and a wheel transmission mechanism; the method is characterized in that: the walking mechanism further comprises a crawler belt and a crawler belt transmission mechanism, wherein the power system outputs power to drive wheels to rotate through the wheel transmission mechanism and drive the crawler belt to rotate through the crawler belt transmission mechanism. The invention improves the walking capacity and the mobility under specific working conditions by adding the crawler running mechanism, improves the performance of the amphibious vehicle and improves the running performance at the junction of the beach and the waterway.
Description
Technical Field
The invention relates to the field of military transport vehicles, in particular to a control system and method for a traveling mechanism of an amphibious vehicle
Background
Among the prior art, amphibious vehicle includes amphibious war vehicle and transport vechicle, belongs to for military use special vehicle, generally including setting up the water jet propulsion ware that is arranged in the tail and be used for providing advancing power when sailing on water, and adopt the wheel drive to provide power when going on the road to realize amphibious function. However, due to different environments of military transport vehicles or war vehicles, the military transport vehicles or the war vehicles need to adapt to the disabled working modes and scenes, such as landing on the land from water, when the water is in the junction, the military transport vehicles or the war vehicles cannot effectively and rapidly land due to the fact that the travelling mechanism, such as tires, is adopted only in the environments of soft, silt and the like, and the performance of the war vehicles, such as beach landing, is affected.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a control system and a control method for a traveling mechanism of an amphibious vehicle, which adopt two traveling mechanisms of tires and a crawler belt to provide traveling of the amphibious vehicle, improve the traveling capacity under some special working conditions and simultaneously control the lifting and the descending of the crawler belt.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the control system of the running mechanism of the amphibious vehicle comprises a whole vehicle controller and a power system, wherein the power system comprises a power system control part and a power system executing mechanism, the power system control part is connected with the power system executing mechanism, the output end of the whole vehicle controller is connected with the power system control part, and the power system outputs power to the running mechanism; the travelling mechanism comprises a plurality of pairs of wheels and a wheel transmission mechanism; the walking mechanism further comprises a crawler belt and a crawler belt transmission mechanism, wherein the power system outputs power to drive wheels to rotate through the wheel transmission mechanism and drive the crawler belt to rotate through the crawler belt transmission mechanism.
The walking mechanism further comprises a wheel lifting mechanism and a crawler lifting mechanism, wherein the wheel lifting mechanism and the crawler lifting mechanism are respectively arranged on the frame and used for achieving lifting control of wheels and lifting control of the crawler, and the output end of the whole vehicle controller is connected with the wheel lifting mechanism and the crawler lifting mechanism through a wheel lifting control component and a crawler lifting control component respectively.
The vehicle controller is connected with the man-machine interaction system, and the vehicle controller controls the lifting and/or rotating speeds of the wheels and the crawler belt according to the parameters input by the man-machine interaction system.
The man-machine interaction system comprises a man-machine interaction interface and a working mode switching module, and the whole vehicle controller controls lifting of wheels and tracks according to the working mode switched by the working mode switching module.
And the input end of the whole vehicle controller is connected with a steering wheel angle sensor, a tire driving shaft rotating speed sensor, a crawler rotating speed sensor and a vehicle speed sensor.
The vehicle controller is respectively connected with the crawler pressure sensor and the displacement sensor, the crawler pressure sensor is used for collecting the pressure data of the crawler and the ground, and the displacement sensor is used for collecting the displacement data of the crawler in the lifting process.
The control method of the running mechanism of the amphibious vehicle comprises the steps that the whole vehicle controller controls the lifting of the crawler belt according to control parameters input by the man-machine interaction system to control whether the crawler belt participates in working or not, the whole vehicle controller detects a vehicle speed signal, and only when the vehicle speed is zero, a crawler belt lowering operation instruction of the man-machine interaction interface is executed to enable the crawler belt to participate in whole vehicle movement.
After the crawler belt is put down, the whole vehicle controller monitors steering wheel angle signals and judges whether the whole vehicle is in a straight running or steering working condition at the moment; under the straight running working condition, the whole vehicle controller monitors the rotating speed signal of the wheel driving shaft and the rotating speed signal of the crawler belt, compares the rotating speed difference of the wheel driving shaft and the crawler belt with a preset speed threshold value, and adjusts the rotating speed change of the crawler belt to the rotating speed of the wheel driving shaft until the rotating speed difference is smaller than the preset speed threshold value when the rotating speed difference is larger than the preset speed threshold value; and when the vehicle is in a steering working condition, the vehicle controller monitors the steering wheel rotation angle to reach a steering angle threshold, calculates the target rotation speed of the tracks on the two sides of the vehicle through simulation of the current vehicle speed and the steering wheel rotation angle by adopting an Abamann steering model, and then respectively controls the tracks on the two sides of the vehicle to reach the target speed so as to meet the steering requirement of the vehicle.
When the whole vehicle controller drives the crawler belt to descend through the crawler belt lifting mechanism, the crawler belt pressure signal and the descending displacement signal are monitored in real time, and when the pressure data reach a preset threshold value or the displacement reaches a set displacement, the control of the crawler belt lifting mechanism is stopped, and at the moment, the crawler belt initial working position is located.
In the working process of the crawler, the crawler pressure data and the displacement data are monitored in real time, and the whole vehicle controller controls the crawler pressure on two sides of the vehicle to be consistent and preset pressure threshold values through the crawler lifting mechanism.
The invention has the advantages that: the walking capacity and the mechanical capacity under specific working conditions are improved by adding the crawler running mechanism, the performance of the amphibious vehicle is improved, and the running performance at the junction of a beach and a waterway is improved; the crawler lifting control can effectively realize the control of participating in work and the speed matching control of the crawler, so that the crawler can work more reliably.
Drawings
The contents of the drawings and the marks in the drawings of the present specification are briefly described as follows:
FIG. 1 is a schematic diagram of a control system of the present invention.
Detailed Description
The following detailed description of the invention refers to the accompanying drawings, which illustrate preferred embodiments of the invention in further detail.
The embodiment provides a track control system of wheel track combined amphibious vehicle, it mainly increases track auxiliary system on the basis of current tire, can be at quick this kind of land environment of mode that increases track traffic such as water route juncture, can realize quick maneuvering through the track. The vehicle is driven by wheels during on-road running, engine power is transmitted to an on-road transfer case through an AT gearbox, then torque is distributed to wheels of each axle, and the vehicle can be driven in an auxiliary manner by using a crawler belt during off-road running, so that the passing capacity is improved; when the vehicle runs on water, a water propeller propels the vehicle, and engine power is transmitted to the rear water-spraying propeller through a water Liu Fendong tank; the hydraulic pump is driven by the hydraulic pump to transmit power to the crawler hydraulic motor through the amphibious transfer case. The scheme can realize multi-working condition running, has high wheel-track switching speed and high cross-country trafficability.
As shown in fig. 1, the control system of the running mechanism of the amphibious vehicle comprises a whole vehicle controller and a power system, wherein the output end of the whole vehicle controller is connected with the power system, the power system mainly comprises an engine and an engine controller, the engine is used for outputting power such as torque and the like and sending the power to the running mechanism through mechanical transmission, and the engine controller is connected with the whole vehicle controller and used for receiving a control signal of the whole vehicle controller to control the operation of the engine. The travelling mechanism comprises a plurality of pairs of wheels and a wheel transmission mechanism; the running mechanism further comprises a crawler belt and a crawler belt transmission mechanism, wherein the power system outputs power to drive wheels to rotate through the wheel transmission mechanism, and the crawler belt is driven to rotate through the crawler belt transmission mechanism. The wheel-track combined running mechanism is used for providing running power for the waterway amphibious vehicle, and when the road is in the environments of beach, waterway junction, off-road and the like, the working mode of the tire can be combined in a track auxiliary mode, so that the off-road performance is improved. The crawler belt is not required to work on a good road in some conditions, so that the crawler belt lifting mechanism is arranged to control lifting of the crawler belt, and comprises a hydro-pneumatic spring which is used for lifting according to oil pressure, so that lifting control of the crawler belt is completed. The hydraulic system can comprise a hydraulic controller, an oil tank, an oil pump and corresponding valves, the oil tank sequentially passes through the oil pump and the valves through a pipeline and then sends oil pressure into the oil-gas spring for controlling the lifting of the oil-gas spring, the control of the valves and the oil pump can be controlled through the hydraulic controller, and the hydraulic controller is connected with the whole vehicle controller and is used for controlling according to control signals transmitted by the whole vehicle controller. Further, the wheels are not operated in the water sailing mode, so that the wheels can be lifted to reduce the resistance of the whole vehicle, and the lifting of the wheels and the crawler belt is respectively controlled by driving the wheel lifting mechanism and the crawler belt lifting mechanism through the whole vehicle controller in the water sailing mode, so that the resistance in the water sailing mode is reduced, and an operator operates the water sailing mode on a control panel or an operation table to realize the mode switching of the amphibious vehicle. The wheel lifting mechanism and the crawler lifting mechanism are respectively arranged on the frame and used for realizing lifting control of wheels and crawler lifting control, and the output end of the whole vehicle controller is respectively connected with the wheel lifting mechanism and the crawler lifting mechanism. The wheel lifting mechanism can be the same as the tire upgrading mechanism, and lifting control is realized through a hydraulic control system by adopting a hydro-pneumatic spring, and comprises a hydraulic controller, an oil pump, an oil tank, an oil pipeline, a control valve and the like.
The whole vehicle controller is connected with the man-machine interaction system, and the lifting and/or the speed of the wheels and the crawler belt are controlled by the whole vehicle controller according to the parameters input by the man-machine interaction system. The man-machine interaction system comprises a man-machine interaction interface and a workbench, wherein a touch screen, peripherals and the like are arranged on the man-machine interaction interface and used for realizing manual input of control data and display of related data, and a plurality of control switches, change-over switches and the like are arranged on the workbench, including but not limited to a working mode switching module, and a whole vehicle controller controls lifting of wheels and tracks according to the working mode switched by the working mode switching module. The working mode change-over switch can be a virtual key integrated on the touch screen or an entity change-over switch. The mode switch at least comprises three disclosures of road running, water running and off-road running, and corresponds to a tire working mode only, no work of the tire tracks and work of the tire tracks respectively.
And under the working condition that the crawler participates in working, the input end of the whole vehicle controller is connected with a steering wheel corner sensor, a tire driving shaft rotating speed sensor, a crawler rotating speed sensor and a vehicle speed sensor, and is used for adjusting the crawler speed according to the steering wheel corner, the driving shaft speed, the crawler speed and the vehicle speed.
Under the working condition that the crawler participates in working, the crawler is firstly put down to a working position, and whether the position at the moment meets the working position is judged through pressure and displacement. The whole vehicle controller is respectively connected with the crawler pressure sensor and the displacement sensor, the crawler pressure sensor is used for collecting the data of the crawler and the ground pressure, and the displacement sensor is used for collecting the displacement data of the crawler lifting process. Judging whether the pressure data is lowered to a proper working position at the moment or judging whether the pressure data is lowered to the working position at the moment or judging whether the pressure data is used for judging whether the working position is reached at the moment (the displacement threshold corresponding to the working position below the prestarting is achieved when the displacement data reaches the displacement threshold), after the pressure reaches the set threshold, the position below the crawler belt meets the working requirement, and then dynamically adjusting the height of the crawler belt through the pressure data in the working process.
A control method of a running mechanism of an amphibious vehicle comprises the steps that a whole vehicle controller controls lifting of a crawler belt according to control parameters input by a man-machine interaction system to control whether the crawler belt participates in working, the whole vehicle controller detects a vehicle speed signal, and a crawler belt lowering operation instruction of a man-machine interaction interface is executed only when the vehicle speed is zero so that the crawler belt participates in whole vehicle movement. When the vehicle speed is 0, the crawler belt working mode is entered through mode switching by the man-machine interaction interface, and in the state of the crawler belt working mode, the crawler belt is put down by the lifting mechanism, otherwise, the crawler belt lowering operation is not executed, and the crawler belt is damaged if the crawler belt is put down in the driving process of the vehicle. The man-machine interaction interface system can be switched to the working condition of the crawler belt work through inputting the operation parameters or directly, and at the moment, the whole vehicle controller controls the crawler belt to put down to participate in the work.
After the crawler belt is put down, the whole vehicle controller monitors steering wheel angle signals and judges whether the whole vehicle is in a straight running or steering working condition at the moment; under the straight running working condition, the whole vehicle controller monitors the rotating speed signal of the wheel driving shaft and the rotating speed signal of the crawler belt, compares the rotating speed difference of the wheel driving shaft and the crawler belt with a preset speed threshold value, and adjusts the rotating speed change of the crawler belt to the rotating speed of the wheel driving shaft until the rotating speed difference is smaller than the preset speed threshold value when the rotating speed difference is larger than the preset speed threshold value; and when the vehicle is in a steering working condition, the vehicle controller monitors the steering wheel rotation angle to reach a steering angle threshold, calculates the target rotation speed of the tracks on the two sides of the vehicle through simulation of the current vehicle speed and the steering wheel rotation angle by adopting an Abamann steering model, and then respectively controls the tracks on the two sides of the vehicle to reach the target speed so as to meet the steering requirement of the vehicle. When the whole vehicle controller drives the crawler belt to descend through the crawler belt lifting mechanism, the crawler belt pressure signal and the descending displacement signal are monitored in real time, and when the pressure data reach a preset threshold value or the displacement reaches a set displacement, the control of the crawler belt lifting mechanism is stopped, and at the moment, the crawler belt initial working position is located.
In the working process of the crawler, the crawler pressure data and the displacement data are monitored in real time, and the whole vehicle controller controls the crawler pressure on two sides of the vehicle to be consistent and preset pressure threshold values through the crawler lifting mechanism.
The crawler auxiliary system can realize vertical retraction through contraction of the hydro-pneumatic spring, and the vehicle normally walks in a wheel type when the crawler auxiliary system is retracted, so that low-energy-consumption high-mobility running of the vehicle on a structured pavement is realized. When the crawler auxiliary system is put down to be in contact with the ground, the vehicle runs by the wheel-crawler composite travelling mechanism, so that the contact area with the ground is increased, the ground contact ratio and the wheel sinking amount are reduced, and the reliable running of the vehicle in a severe environment is realized. When the crawler auxiliary system does not work, the crawler auxiliary system is retracted into the vehicle body, so that sediment is prevented from entering the motion joint, and the crawler travelling mechanism is further protected.
In order to improve the transportation efficiency of the amphibious transport vehicle, the running working conditions are designed in advance, and the design is carried out for whether the corresponding crawler works or not under each working condition, wherein each working condition can be switched through a human-computer interaction system or through a physical hardware switch, and the specific work comprises:
(1) Water sailing condition: the crawler belt travelling mechanism is retracted before the vehicle runs under water to avoid generating extra resistance in water, and each wheel is retracted when the vehicle runs under water, so that the resistance in water generated by the wheels is reduced to the greatest extent.
(2) Land and water boundary conditions: the crawler travelling mechanism is put down before the vehicle logs in, so that enough driving force is timely obtained when the ground contact surface of the vehicle is ensured, and the vehicle logging-in capability is enhanced.
(3) Off-road conditions: when the vehicle runs at a low speed through a soft road surface, the hydro-pneumatic spring of the crawler travelling mechanism is controlled to stretch, the crawler is put down to be in contact with the ground, driving force is provided, and the vehicle passing efficiency is improved. When the vehicle runs on a rugged road, the crawler running mechanism is put down, the hydro-pneumatic spring of the wheel running system is stretched to the maximum travel, the ground clearance of the vehicle reaches the maximum value, and the trafficability of the vehicle on the rugged road is improved.
(4) Land driving conditions: when the crawler belt traveling mechanism runs on a road surface with good road conditions, the hydro-pneumatic spring is controlled to retract and retract, and the crawler belt traveling mechanism runs at a high speed, so that high maneuverability and low energy consumption are ensured. Meanwhile, the hydro-pneumatic spring of the wheel type traveling system is retracted to increase the high-speed traveling stability so as to reduce the height of the vehicle.
For the wheel-track composite driving vehicle, the wheels and the track travelling mechanism are respectively and independently driven, namely, the output torque and the rotation speed of the wheels and the track travelling mechanism can be independently controlled. The essence of the motion and dynamics control of the vehicle is that the output torque and the rotation speed of the wheels and the crawler belt are adjusted in a distributed and independent mode on the basis of sensing the action and the transmission condition between the wheels and the ground, and the required adhesive force is generated on the basis of meeting the power requirement through the difference of the output torque or the rotation speed between the crawler belt travelling mechanism and the wheels, so that the motion gesture of the distributed driving vehicle is changed. In addition, under some special working conditions, the high trafficability and the terrain adaptability of the vehicle can be realized by carrying out distributed adjustment on the rotation speeds of the wheels and the crawler running mechanism.
When the crawler belt is used, the whole vehicle controller monitors steering wheel angle signals and judges whether the whole vehicle is in a straight running working condition or a steering working condition. When the whole vehicle is judged to be in a straight running working condition, the VCU of the whole vehicle monitors the rotating speed signal of the current driving shaft and the rotating speed signal of the crawler belt, and when the speed difference between the rotating speed signal and the rotating speed signal of the crawler belt is larger than a certain set threshold value, the whole vehicle domain controller regulates the speed of the crawler belt through the opening of the proportional electromagnetic valve. When the whole vehicle is judged to be in a steering working condition: the steering wheel angle is monitored to reach a steering threshold value (left/right turning), the target vehicle speeds of the left and right tracks are calculated through simulation of the current vehicle speed (ABS acquisition) and the steering wheel angle by adopting an Abaman steering model, and the vehicle speeds of the left and right tracks are independently controlled so as to meet the steering requirement of the whole vehicle during track driving.
In the process of controlling the wheel-track compound speed matching, the height of the track auxiliary system is controlled, and the track auxiliary system is controlled to lift according to the ground fluctuation condition, so that the track auxiliary system is prevented from bearing excessive axle load and damaging a structure or a hydraulic system. The hydraulic system can be adjusted according to the threshold value of the hydraulic system, and when the hydro-pneumatic spring is adjusted to lift in the driving process, the hydraulic pressure is kept in a preset calibrated hydraulic pressure range, so that the excessive load is avoided.
Acquiring data of a track pressure sensor and data of a displacement sensor in real time in the process of wheel-track compound running; the wheel-track composite control system has a calibration function, and is used for calibrating and storing a track pressure threshold, and a track is high-level and low-level; stopping control when the track pressure is greater than the calibration threshold value, and feeding back that the track has touched the ground; when the displacement sensor reaches a target control value, stopping control, and adjusting the feedback height in place; in the driving process, when the control system senses that the track pressure is larger than the calibration threshold value, the hydro-pneumatic spring is controlled to lift the track auxiliary system, and the bearing of the track system is reduced.
Track control management: 1. acquiring crawler pressure sensor data and displacement sensor data in real time; 2. the crawler belt pressure threshold value is calibrated and stored, and the crawler belt is high-level and low-level; 3. responding to a track height adjusting instruction sent by the whole vehicle controller only when the vehicle speed is zero; 4. stopping control when the track pressure is greater than the calibration threshold value, and feeding back that the track has touched the ground; when the displacement sensor reaches the target control value, stopping control, and adjusting the feedback height in place.
And (3) crawler belt speed regulation control: when the crawler belt is used, the whole vehicle controller monitors steering wheel angle signals and judges whether the whole vehicle is in a straight running working condition or a steering working condition. When the whole vehicle is judged to be in a straight running working condition, the VCU of the whole vehicle monitors the rotating speed signal of the current driving shaft and the rotating speed signal of the crawler belt, and when the speed difference between the rotating speed signal and the rotating speed signal of the crawler belt is larger than a certain set threshold value, the whole vehicle domain controller regulates the speed of the crawler belt through the opening of the proportional electromagnetic valve. When the whole vehicle is judged to be in a steering working condition: the steering wheel angle is monitored to reach a steering threshold value (left/right turning), the target vehicle speeds of the left and right tracks are calculated through simulation of the current vehicle speed (ABS acquisition) and the steering wheel angle by adopting an Abaman steering model, and the vehicle speeds of the left and right tracks are independently controlled so as to meet the steering requirement of the whole vehicle during track driving.
It is obvious that the specific implementation of the present invention is not limited by the above-mentioned modes, and that it is within the scope of protection of the present invention only to adopt various insubstantial modifications made by the method conception and technical scheme of the present invention.
Claims (1)
1. The control method of the control system of the running gear of the amphibious vehicle, the said system includes the whole vehicle control unit, power system, the said power system includes control unit of the power system, actuating mechanism of the power system, the said control unit of the power system is connected with actuating mechanism of the power system, the output end of the said whole vehicle control unit is connected with control unit of the power system, the said power system outputs power to the running gear; the travelling mechanism comprises a plurality of pairs of wheels and a wheel transmission mechanism; the method is characterized in that: the walking mechanism further comprises a crawler belt and a crawler belt transmission mechanism, wherein the power system outputs power to drive wheels to rotate through the wheel transmission mechanism and drive the crawler belt to rotate through the crawler belt transmission mechanism; the walking mechanism further comprises a crawler lifting mechanism, the crawler lifting mechanism is arranged on the frame and used for realizing lifting control of the crawler, and the output end of the whole vehicle controller is connected with the crawler lifting mechanism through a crawler lifting control component; the whole vehicle controller is connected with the man-machine interaction system, and controls the lifting and rotating speeds of the crawler belt according to parameters input by the man-machine interaction system; the whole vehicle controller controls the lifting of the crawler belt according to the working mode switched by the working mode switching module; the input end of the whole vehicle controller is connected with a steering wheel angle sensor, a tire driving shaft rotating speed sensor, a crawler rotating speed sensor and a vehicle speed sensor; the whole vehicle controller is respectively connected with a track pressure sensor and a displacement sensor, the track pressure sensor is used for collecting track and ground pressure data, and the displacement sensor is used for collecting displacement data in the track lifting process;
the method comprises the following steps: the whole vehicle controller controls the lifting of the crawler belt according to the control parameters input by the man-machine interaction system to control whether the crawler belt participates in work or not, detects a vehicle speed signal, and executes a crawler belt lowering operation instruction of the man-machine interaction interface only when the vehicle speed is zero so that the crawler belt participates in the whole vehicle movement;
the running working conditions are designed in advance, and the design is carried out for whether the corresponding crawler belt works or not under each working condition, wherein each working condition can be switched through a man-machine interaction system or through a physical hardware switch, and the specific work comprises the following steps:
(1) Water sailing condition: the crawler travelling mechanism is retracted before the vehicle runs under water to avoid generating extra resistance in water, and each wheel is retracted when the vehicle runs under water, so that the resistance in water generated by the wheels is reduced to the maximum extent;
(2) Land and water boundary conditions: the crawler travelling mechanism is put down before the vehicle logs in, so that sufficient driving force is timely obtained when the vehicle contacts the ground, and the vehicle logging-in capability is enhanced;
(3) Off-road conditions: when the vehicle runs at a low speed through a soft road surface, the hydro-pneumatic spring of the crawler travelling mechanism is controlled to stretch, the crawler is put down to be in contact with the ground, driving force is provided, and the vehicle passing efficiency is improved; when the vehicle runs on a rugged road, the crawler running mechanism is put down, the hydro-pneumatic spring of the wheel running system is stretched to the maximum travel, the ground clearance of the vehicle reaches the maximum value, and the trafficability of the vehicle on the rugged road is improved;
(4) Land driving conditions: when the crawler belt traveling mechanism runs on a road surface with good road conditions, the hydro-pneumatic spring is controlled to retract and retract, and the crawler belt traveling mechanism runs at a high speed, so that high maneuverability and low energy consumption are ensured; meanwhile, the hydro-pneumatic spring of the wheel type running system is retracted to increase the high-speed running stability so as to reduce the height of the vehicle;
after the crawler belt is put down, the whole vehicle controller monitors steering wheel angle signals and judges whether the whole vehicle is in a straight running or steering working condition at the moment; under the straight running working condition, the whole vehicle controller monitors the rotating speed signal of the wheel driving shaft and the rotating speed signal of the crawler belt, compares the rotating speed difference of the wheel driving shaft and the crawler belt with a preset speed threshold value, and adjusts the rotating speed change of the crawler belt to the rotating speed of the wheel driving shaft until the rotating speed difference is smaller than the preset speed threshold value when the rotating speed difference is larger than the preset speed threshold value; when the vehicle is in a steering working condition, the vehicle controller monitors the steering wheel rotation angle to reach a steering angle threshold, calculates the target rotation speed of the tracks on the two sides of the vehicle through simulation of the current vehicle speed and the steering wheel rotation angle by adopting an Abamann steering model, and then respectively controls the tracks on the two sides of the vehicle to reach the target speed so as to meet the steering requirement of the vehicle;
when the whole vehicle controller drives the crawler belt to descend through the crawler belt lifting mechanism, monitoring a crawler belt pressure signal and a descending displacement signal in real time, and stopping controlling the crawler belt lifting mechanism when the pressure data reaches a preset threshold value or the displacement reaches a set displacement, wherein the crawler belt is positioned at an initial working position;
in the working process of the crawler, the crawler pressure data and the displacement data are monitored in real time, and the whole vehicle controller controls the crawler pressure on two sides of the vehicle to be consistent and preset pressure threshold values through the crawler lifting mechanism.
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