CN113978254A - Safety overload control method for crawler-type remote control robot chassis motor driving system - Google Patents

Safety overload control method for crawler-type remote control robot chassis motor driving system Download PDF

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CN113978254A
CN113978254A CN202111241890.1A CN202111241890A CN113978254A CN 113978254 A CN113978254 A CN 113978254A CN 202111241890 A CN202111241890 A CN 202111241890A CN 113978254 A CN113978254 A CN 113978254A
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current
motor
overload
crawler
reference value
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CN113978254B (en
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应展烽
翁潇恬
祖玮
石廷川
谢佳伟
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/429—Current
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Control Of Multiple Motors (AREA)
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Abstract

The invention discloses a safety overload control method for a chassis motor driving system of a crawler-type remote control robot, which comprises the following steps that the crawler-type remote control robot receives a traveling control command sent by a remote controller; setting motor running current reference values on the left side and the right side of the chassis according to a running control command; carrying out closed-loop control on the operating temperature of a chassis motor driving system to obtain a motor overload current limit value; making a chassis motor driving system safety overload control strategy according to the motor overload current limit value, and correcting a motor current reference value; and carrying out closed-loop control on the current of the motor to ensure that the motor runs in an overload manner. According to the crawler-type remote control robot, the temperature of the driving systems of the two direct current motors is controlled simultaneously, the reference value of the current of the motor is corrected by combining the advancing state of the crawler-type remote control robot, the safe overload advancing of the crawler-type remote control robot is realized, and the loading capacity and the advancing flexibility of the crawler-type remote control robot are improved.

Description

Safety overload control method for crawler-type remote control robot chassis motor driving system
Technical Field
The invention belongs to the field of direct current motor control, and particularly relates to a safety overload control method for a chassis motor driving system of a crawler-type remote control robot.
Background
With the development of science and technology, robots have become a difficult or incomplete ring in the industrial intelligence process. The existing robots are various in types and different in functions. The crawler structure in the crawler-type robot has the advantages of strong ground gripping capability, stable traveling and the like, the crawler-type robot is driven by the direct current motor, the direct current motor has the characteristics of simple control mode, superior speed regulation performance and the like, and the traveling controllability can be improved in a remote control mode, so that the crawler-type remote control robot can be widely applied to the fields of logistics distribution, geological exploration and the like.
When the crawler-type remote control robot increases the load or executes the climbing task under the complex terrain, the chassis motor of the crawler-type remote control robot can be frequently overloaded and run. In order to prevent the motor damage caused by long-time overload operation, a proper overload control strategy needs to be appointed to a chassis motor driving system of the crawler-type remote control robot so as to ensure the operation safety of the motor and the working reliability of the crawler-type remote control robot. The overload running capability of the direct current motor is mainly limited by the thermal safety of a motor winding and a driver, the overhigh temperature becomes one of common reasons for reducing the service life of the motor, the output performance of the motor is limited, and the accelerating running capability and the load bearing performance of the crawler-type remote control robot are also limited.
At present, there are patents which propose corresponding overload control schemes for the thermal safety of motor operation. Chinese patent CN107147349A proposes an induction motor active thermal control method, which increases temperature closed-loop control on the basis of establishing a three-phase asynchronous motor vector control model, and improves the load carrying capacity and the operation reliability of a motor. Chinese patent CN107124131A proposes a motor control method for a new energy automobile, which combines current closed-loop control and temperature change rate closed-loop control to prevent the motor temperature from changing too fast and ensure the motor to run safely.
In the existing patents, the research objects are single motors, which are not suitable for the overload operation control of the tracked remote-controlled robot, because the chassis of the tracked remote-controlled robot comprises two direct current motors, the two motors need to be controlled simultaneously when the overload of the tracked remote-controlled robot is advanced under the condition of meeting the thermal safety, and the operation conditions of the two direct current motors are related to each other. This patent aims at carrying out temperature control to motor drive system, and the temperature of make full use of thermal inertia in order to improve motor drive system safe operation makes the motor overload operation, promotes crawler-type remote-controlled robot's load carrying capacity and the flexibility of marcing.
Disclosure of Invention
The invention aims to provide a safety overload control method for a chassis motor driving system of a crawler-type remote-controlled robot, which solves the problems of poor overload running capability of a direct-current motor and insufficient advancing power of the crawler-type remote-controlled robot under the limitation of temperature rise in the prior art, and improves the thermal safety of the motor driving system and the flexibility of the crawler-type robot in advancing under remote control.
The technical solution for realizing the invention is as follows: a safety overload control method for a crawler-type remote control robot chassis motor driving system comprises motors on the left side and the right side of a chassis and drivers corresponding to the motors, and specifically comprises the following control steps:
step 1: the remote controller sends out advancing control commands of the crawler-type remote control robot, the advancing control commands comprise overload advancing commands, advancing direction commands, steering amplitude commands and advancing power commands, the crawler-type remote control robot receives the advancing control commands, and the step 2 is carried out.
Step 2: and (3) setting the running current reference values of the motors on the left side and the right side of the chassis by the crawler-type remote control robot according to the received running control command and the running state of the crawler-type remote control robot, and turning to the step 3.
And step 3: and (4) carrying out closed-loop control on the running temperatures of the motors on the left side and the right side of the chassis and the drivers corresponding to the motors to respectively obtain overload current limit values of the motors on the left side and the right side of the chassis, and turning to the step 4.
And 4, step 4: and (3) making a safety overload control method of the chassis motor driving system by comparing the running current reference values of the motors on the left side and the right side of the chassis with the overload current limit values of the motors on the left side and the right side of the chassis and combining the running state of the crawler-type remote control robot, providing a motor running current reference value correction strategy, correcting the running current reference values of the motors on the left side and the right side of the chassis, and turning to the step 5.
And 5: and carrying out current closed-loop control according to the corrected running current reference values of the motors on the left side and the right side of the chassis, so as to realize safe overload running of the chassis motor driving system of the crawler-type remote control robot.
Compared with the prior art, the invention has the remarkable advantages that:
(1) the temperature of motors on the left side and the right side of a chassis in a chassis motor driving system of the crawler-type remote control robot and drivers corresponding to the motors are controlled simultaneously, the upper limit of the operating temperature of the chassis motor driving system is improved, and the loading capacity and the traveling flexibility of the crawler-type remote control robot are improved under the condition of motor overload operation;
(2) the running current reference value of the motor under the overload condition is corrected, so that the motor driving system can run stably at a safe temperature, the thermal fault occurrence rate of the direct current motor is reduced, and the running reliability of the chassis motor driving system of the crawler-type remote control robot is enhanced.
Drawings
Fig. 1 is a flow chart of a safety overload control method of a crawler-type remote control robot chassis motor driving system according to the present invention.
Fig. 2 is a schematic diagram of a tracked remote-controlled robot control object.
Fig. 3 is a schematic diagram of a junction-shell thermal network model of a power device.
Fig. 4 is a block diagram of temperature control of a tracked remote-controlled robot.
Fig. 5 is a flowchart of a reference value correction strategy for a motor operating current in a safety overload control method for a tracked remote-controlled robot.
Fig. 6 is a block diagram of the current control of the motor of the tracked remote-controlled robot.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
As shown in fig. 1, the safety overload control method for a chassis motor driving system of a crawler-type remote-controlled robot according to the present invention specifically comprises the following steps:
step 1: the remote controller sends out advancing control commands of the crawler-type remote control robot, the advancing control commands comprise overload advancing commands, advancing direction commands, steering amplitude commands and advancing power commands, the crawler-type remote control robot receives the advancing control commands, and the step 2 is carried out.
Further, the functions corresponding to the travel control command of the tracked remote-controlled robot are respectively as follows:
the overload traveling command sets the working mode of the crawler-type remote control robot, and the working mode can be divided into a non-overload traveling mode and an overload traveling mode.
The advancing direction command sets the advancing direction of the crawler-type remote control robot, and the advancing direction is divided into advancing, backing, left turning and right turning.
And setting a steering current delta I of the crawler-type remote control robot according to the steering amplitude command, wherein the steering current delta I is the difference of the running current reference values of the motors on the left side and the right side of the chassis when the crawler-type remote control robot steers, so that the steering amplitude of the crawler-type remote control robot is measured.
Traveling power command setting crawler-type remote control robot traveling current initial value I0And an overload current IoverloadWhen the crawler-type remote control robot works in a non-overload mode, the overload current IoverloadWhen the traveling power command is equal to 0, the traveling current initial value I can be adjusted0And the initial value of the traveling current I0Corresponding to steering current DeltaI and corresponding to rated current I of motorNWithin the range, when the crawler-type remote control robot works in an overload mode, the overload current Ioverload> 0, at which time the travel power command is used to adjust the overload current IoverloadAnd rated current INAnd an overload current IoverloadShould be within the overload current limit of the motor.
Further, the schematic diagram of the tracked remote-controlled robot control object is shown in fig. 2, the tracked remote-controlled robot control object includes a first dc motor M1, a first power board P1, a main control board C1, a second power board P2, and a second dc motor M2, the first power board P1 includes a first power device Q1, a second power device Q2, a third power device Q3, and a fourth power device Q4; the second power board P2 includes a fifth power device Q5, a sixth power device Q6, a seventh power device Q7 and an eighth power device Q8., the positive and negative poles of a first direct current motor M1 are connected to the output end of the first power board P1, the positive and negative poles of a second direct current motor M2 are connected to the output end of the second power board P2, the positive and negative poles of a power supply of the first power board P1 are respectively connected to the positive and negative poles of a power supply of the main control board, and the positive and negative poles of the power supply of the second power board P2 are respectively connected to the positive and negative poles of the power supply of the main control board. The running states of the first direct current motor M1 and the second direct current motor M2 are controlled in a remote control mode, so that the running function of the crawler-type remote control robot can be realized, and the chassis of the crawler-type remote control robot is relatively simple in structure and easy to control.
Step 2: and (3) setting the running current reference values of the motors on the left side and the right side of the chassis by the crawler-type remote control robot according to the received running control command and the running state of the crawler-type remote control robot, and turning to the step 3.
Further, according to the traveling control command received by the tracked remote-controlled robot, the running current reference values of the motors on the left side and the right side of the chassis of the tracked remote-controlled robot in different traveling states are distributed as follows:
1) when the tracked remote-controlled robot moves forwards or backwards in a straight line, the running current reference value of the first direct current motor M1 is equal to the running current reference value of the second direct current motor M2.
In the non-overload mode, the operating current reference value of the first direct current motor M1
Figure BDA0003319473130000041
Reference value of running current of second direct current motor M2
Figure BDA0003319473130000042
Can be arranged as
Figure BDA0003319473130000043
Figure BDA0003319473130000044
And
Figure BDA0003319473130000045
all need to be at the rated current I of the motorNWithin the range.
In overload mode, the operating current reference of the first direct current machine M1
Figure BDA0003319473130000046
Reference value of running current of second direct current motor M2
Figure BDA0003319473130000047
Can be arranged as
Figure BDA0003319473130000048
Figure BDA0003319473130000049
And
Figure BDA00033194731300000410
are required to be within the respective motor overload current limit value range.
2) When the crawler-type remote control robot turns left, including forward left turning and backward left turning, the operating current reference value of the first direct current motor M1 should be smaller than the operating current reference value of the second direct current motor M2.
In the non-overload mode, the operating current reference value of the first direct current motor M1 is
Figure BDA00033194731300000411
The second DC motor M2 has an operating current reference value of
Figure BDA0003319473130000051
Figure BDA0003319473130000052
The current of the motor is required to be within the rated current range.
In the overload mode, the operating current reference value of the first dc motor M1 is
Figure BDA0003319473130000053
The second DC motor M2 has an operating current reference value of
Figure BDA0003319473130000054
Figure BDA0003319473130000055
And
Figure BDA0003319473130000056
are required to be within the respective motor overload current limit value range.
3) When the crawler-type remote control robot turns right, including forward right turning and backward right turning, the operating current reference value of the first direct current motor M1 should be greater than the operating current reference value of the second direct current motor M2.
In the non-overload mode, the operating current reference value of the first direct current motor M1 is
Figure BDA0003319473130000057
The second DC motor M2 has an operating current reference value of
Figure BDA0003319473130000058
Figure BDA0003319473130000059
The current of the motor is required to be within the rated current range.
In the overload mode, the operating current reference value of the first dc motor M1 is
Figure BDA00033194731300000510
The second DC motor M2 has an operating current reference value of
Figure BDA00033194731300000511
Figure BDA00033194731300000512
And
Figure BDA00033194731300000513
are required to be within the respective motor overload current limit value range.
4) When the crawler-type remote-controlled robot stops traveling, the running current reference value of the first direct current motor M1 and the running current reference value of the second direct current motor M2 are equal
Figure BDA00033194731300000514
And step 3: and (4) carrying out closed-loop control on the running temperatures of the motors on the left side and the right side of the chassis and the drivers corresponding to the motors to respectively obtain overload current limit values of the motors on the left side and the right side of the chassis, and turning to the step 4.
Further, the crawler-type remote control robot chassis motor driving system comprises motors on the left side and the right side of the chassis and drivers corresponding to the motors, and the operation temperature of the crawler-type remote control robot chassis motor driving system is in closed-loop control over the real-time temperature of the motors to be input and the real-time junction temperature of power devices on the drivers. The real-time junction temperature of the power device is obtained by calculating a junction-shell heat network model of the power device. The junction-shell thermal network model of the power device is shown in fig. 3, and the calculation process of the junction temperature derivation of the power device is as follows:
Figure BDA00033194731300000515
wherein, CiIs the heat capacity, R, of each node in the junction-shell heat network modeliIs the thermal resistance of each node in the knot-shell heat network model, wherein i is 1,2, … m, m represents the order of the knot-shell heat network model, P is the power loss of the device and is obtained by the calculation of a device handbook, TjAnd TcJunction temperature and case temperature, T, of the power deviceiFor each node temperature, t is time, i ═ 1,2, … m-1.
Calculating the junction temperature of the discrete device obtained by the formula (1) as follows:
Figure BDA0003319473130000061
where Δ T is the discrete time step, Tj(k) Representing the junction temperature of the power device at time k, P (k) representing the power loss of the device at time k, Tm(k) And the temperature of each node in the junction-shell heat network model at the moment k is shown, and m represents the order of the junction-shell heat network model. And (3) substituting the known heat capacity and heat resistance, the measured shell temperature and the initial temperature of each node into the formula (2) to calculate the junction temperature of the device. In the crawler-type remote control robot chassis motor driving system, the method for establishing the junction-shell heat network model of the power device to calculate the junction temperature of the power device has the advantages of simple shell temperature measurement mode, higher accuracy of junction temperature calculation results and the like, and the temperature closed-loop control of the crawler-type remote control robot chassis motor driving system is realized by reliably estimating the junction temperature of the power device.
Further, a running temperature closed-loop control block diagram of the motors on the left and right sides of the tracked remote-controlled robot chassis and the drivers corresponding to the motors is shown in fig. 4.
For the first dc motor M1 and its driver:
with the junction temperature set-point of the first power device Q1
Figure BDA0003319473130000062
As a reference, with its actual junction temperature
Figure BDA0003319473130000063
The feedback quantity enters a first junction temperature PI controller and outputs a first power device current limit value controlled by the junction temperature of the first power device Q1
Figure BDA0003319473130000064
With the junction temperature set-point of the second power device Q2
Figure BDA0003319473130000065
As a reference, with its actual junction temperature
Figure BDA0003319473130000066
As feedback quantity, the feedback quantity enters a second junction temperature PI controller and outputs the second workSecond power device current limit controlled by junction temperature of device Q2
Figure BDA0003319473130000067
With the junction temperature setting of the third power device Q3
Figure BDA0003319473130000071
As a reference, with its actual junction temperature
Figure BDA0003319473130000072
The feedback quantity enters a third junction temperature PI controller and outputs a third power device current limit value controlled by the junction temperature of the third power device Q3
Figure BDA0003319473130000073
With the junction temperature setting of the fourth power device Q4
Figure BDA0003319473130000074
As a reference, with its actual junction temperature
Figure BDA0003319473130000075
The feedback quantity enters a fourth junction temperature PI controller and outputs a fourth power device current limit value controlled by the junction temperature of the fourth power device Q4
Figure BDA0003319473130000076
At the temperature set point of the first DC motor M1
Figure BDA0003319473130000077
As reference quantity, the actual temperature measurement value T is takenM1As feedback quantity, the feedback quantity enters a first motor temperature PI controller and outputs a first direct current motor current limit value controlled by the temperature of a first direct current motor M1
Figure BDA0003319473130000078
For the first power deviceFlow limit value
Figure BDA0003319473130000079
Current limit value of second power device
Figure BDA00033194731300000710
Current limit value of third power device
Figure BDA00033194731300000711
Fourth power device current limit value
Figure BDA00033194731300000712
And a first DC motor current limit value
Figure BDA00033194731300000713
Taking the minimum value as the first overload current limit value I in the first power board P1lim1。
For the second dc motor M2 and its drive:
according to the junction temperature set value of the fifth power device Q5
Figure BDA00033194731300000714
As a reference, with its actual junction temperature
Figure BDA00033194731300000715
The feedback quantity enters a fifth junction temperature PI controller and outputs a fifth power device current limit value controlled by the junction temperature of the fifth power device Q5
Figure BDA00033194731300000716
According to the junction temperature set value of the sixth power device Q6
Figure BDA00033194731300000717
As a reference, with its actual junction temperature
Figure BDA00033194731300000718
As a feedback quantity, enter the sixth nodeA temperature PI controller for outputting a current limit value of the sixth power device controlled by the junction temperature of the sixth power device Q6
Figure BDA00033194731300000719
According to the junction temperature set value of the seventh power device Q7
Figure BDA00033194731300000720
As a reference, with its actual junction temperature
Figure BDA00033194731300000721
The feedback quantity enters a seventh junction temperature PI controller and outputs a seventh power device current limit value controlled by the junction temperature of the seventh power device Q7
Figure BDA00033194731300000722
With the junction temperature set-point of the eighth power device Q8
Figure BDA00033194731300000723
As a reference, with its actual junction temperature
Figure BDA00033194731300000724
The feedback quantity enters an eighth junction temperature PI controller and outputs an eighth power device current limit value controlled by the junction temperature of the eighth power device Q8
Figure BDA0003319473130000081
With the temperature set point of the second DC motor M2
Figure BDA0003319473130000082
As reference quantity, the actual temperature measurement value T is takenM2As feedback quantity, the current enters a second motor temperature PI controller and outputs a second direct current motor current limit value controlled by the temperature of a second direct current motor M2
Figure BDA0003319473130000083
Current limit value for fifth power device
Figure BDA0003319473130000084
Current limit value of sixth power device
Figure BDA0003319473130000085
Current limit value of seventh power device
Figure BDA0003319473130000086
Current limit value of eighth power device
Figure BDA0003319473130000087
And a second DC motor current limit value
Figure BDA0003319473130000088
Taking the minimum value as the second overload current limit value I in the second power board P2lim2。
And 4, step 4: and (3) making a safety overload control method of the chassis motor driving system by comparing the running current reference values of the motors on the left side and the right side of the chassis with the overload current limit values of the motors on the left side and the right side of the chassis and combining the running state of the crawler-type remote control robot, providing a motor running current reference value correction strategy, correcting the running current reference values of the motors on the left side and the right side of the chassis, and turning to the step 5.
Further, a motor operation current reference value correction strategy in the crawler-type remote control robot chassis motor driving system safety overload control method is shown in fig. 5. The advancing state of the crawler-type remote control robot can be divided into five types, which are respectively: straight forward state, straight backward state, left turn state, right turn state, stop state. Wherein the left-turn state comprises a forward left-turn state and a backward left-turn state, and the right-turn state comprises a forward right-turn state and a backward right-turn state. The traditional crawler-type robot operation control method does not involve double-motor simultaneous overload operation control combined with the advancing direction, and under the safety overload control method of a chassis motor driving system, the correction of the motor operation current reference value can realize the cooperative control of two motors on a chassis under the condition of meeting the thermal safety, so that the crawler-type remote control robot can advance in an overload mode, and meanwhile, the advancing state switching is completed.
The operation current reference value correction strategy in the safety overload control method of the crawler-type remote control robot chassis motor driving system is as follows:
A) if the crawler-type remote control robot needs to go forward linearly at the moment, the correction strategy of the running current reference values of the motors on the two sides is executed according to the following steps:
step 4-1-1: reference the operating current of the first direct current motor M1
Figure BDA0003319473130000089
Set as rated current I of motorNAnd an overload current IoverloadAdded to the sum, the operating current reference value of the second DC motor M2
Figure BDA00033194731300000810
Set to the operating current reference value of the first DC motor M1
Figure BDA0003319473130000091
And (4) equally dividing the sequence into steps 1-2.
Step 4-1-2: judging the running current reference value of the first direct current motor M1
Figure BDA0003319473130000092
Whether or not the first overload current limit value I is exceededlim1And a second overload current limit value Ilim2If the smaller value is not exceeded, the crawler-type remote control robot enters a short-time overload linear advancing state and shifts to the step 4-1-3, and if the smaller value is exceeded, the running current reference value of the first direct current motor M1 is used
Figure BDA0003319473130000093
Set to a first overload current limit value Ilim1And a second overload current limit value Ilim2The smaller value of the first and second direct current motors M2, the operating current reference value of the second direct current motor M2
Figure BDA0003319473130000094
Reference value of operating current with first direct current motor M1
Figure BDA0003319473130000095
And (4) if the two are equal, the crawler-type remote control robot enters a short-time overload linear advancing state and then the step (4-1-3) is carried out.
Step 4-1-3: the crawler-type remote control robot finishes the short-time overload linear advancing state and refers the running current of the first direct current motor M1 to a reference value
Figure BDA0003319473130000096
Reference value of running current of second direct current motor M2
Figure BDA0003319473130000097
Are all set as the initial value I of the traveling current0And the crawler-type remote control robot enters a linear advancing state.
B) If the crawler-type remote control robot needs to linearly retreat at the moment, the correction strategy of the running current reference values of the motors on the two sides is executed according to the following steps:
step 4-2-1: reference the operating current of the first direct current motor M1
Figure BDA0003319473130000098
Set as rated current I of motorNAnd an overload current IoverloadAdded to the sum, the operating current reference value of the second DC motor M2
Figure BDA0003319473130000099
Set to the operating current reference value of the first DC motor M1
Figure BDA00033194731300000910
And (4) equally dividing the sequence into a step 4-2-2.
Step 4-2-2: judging the running current reference value of the first direct current motor M1
Figure BDA00033194731300000911
Whether or not the first overcurrent limit is exceededValue Ilim1And a second overload current limit value Ilim2If the smaller value is not exceeded, the crawler-type remote control robot enters a short-time overload linear retreating state and shifts to the step 4-2-3, and if the smaller value is exceeded, the running current reference value of the first direct current motor M1 is used
Figure BDA00033194731300000912
Set to a first overload current limit value Ilim1And a second overload current limit value Ilim2The smaller value of the first and second direct current motors M2, the operating current reference value of the second direct current motor M2
Figure BDA00033194731300000913
Reference value of operating current with first direct current motor M1
Figure BDA00033194731300000914
And (4) if the two are equal, the crawler-type remote control robot enters a short-time overload linear retreating state and then the step (4-2-3) is carried out.
Step 4-2-3: after the crawler-type remote control robot finishes the short-time overload linear retreating state, the running current reference value of the first direct current motor M1 is used
Figure BDA0003319473130000101
Reference value of running current of second direct current motor M2
Figure BDA0003319473130000102
Are all set as the initial value I of the traveling current0And the crawler-type remote control robot enters a linear retreating state.
C) If the crawler-type remote control robot needs to turn left at the moment, the correction strategy of the running current reference values of the motors on the two sides is executed according to the following steps:
step 4-3-1: reference value of running current of second direct current motor M2
Figure BDA0003319473130000103
Set as rated current I of motorNAnd an overload current IoverloadAdded to the sum, the operating current reference value of the first DC motor M1
Figure BDA0003319473130000104
Set as rated current I of motorNAnd an overload current IoverloadAnd adding the sum, subtracting the steering current delta I, and turning to a step 4-3-2.
Step 4-3-2: judging the reference value of the running current of the second direct current motor M2 at the moment
Figure BDA0003319473130000105
Whether or not the second overload current limit value I is exceededlim2If the current value of the second direct current motor M2 is not exceeded, the step 4-3-3 is carried out, and if the current value of the second direct current motor M2 is exceeded, the operation current reference value is carried out
Figure BDA0003319473130000106
Set to the second overload current limit value Ilim2Reference the operating current of the first direct current motor M1
Figure BDA0003319473130000107
Set as the operating current reference value of the second DC motor M2
Figure BDA0003319473130000108
The difference subtracted from the steering current Δ I is transferred to step 4-3-3.
Step 4-3-3: judging the running current reference value of the first direct current motor M1 at the moment
Figure BDA0003319473130000109
Whether or not the first overload current limit value I is exceededlim1If the current reference value exceeds the preset value, the crawler-type remote control robot enters a short-time overload left-turn state and goes to the step 4-3-5, and if the current reference value exceeds the preset value, the running current reference value of the first direct current motor M1 is used for controlling the crawler-type remote control robot to run
Figure BDA00033194731300001010
Set to a first overload current limit value Ilim1Reference value of operating current of the second direct current motor M2
Figure BDA00033194731300001011
Set as the operating current reference value of the first DC motor M1
Figure BDA00033194731300001016
And adding the sum of the steering current delta I and the steering current delta I, and turning to a step 4-3-4.
Step 4-3-4: judging the reference value of the running current of the second direct current motor M2 at the moment
Figure BDA00033194731300001012
Whether or not the second overload current limit value I is exceededlim2If the current reference value exceeds the preset value, the crawler-type remote control robot enters a short-time overload left-turn state and goes to the step 4-3-5, and if the current reference value exceeds the preset value, the running current reference value of the second direct current motor M2 is used for controlling the crawler-type remote control robot to run
Figure BDA00033194731300001013
Set to the second overload current limit value Ilim2Reference the operating current of the first direct current motor M1
Figure BDA00033194731300001014
Set as the operating current reference value of the second DC motor M2
Figure BDA00033194731300001015
The difference subtracted from the steering current Δ I is transferred to step 4-3-3.
Step 4-3-5: the crawler-type remote control robot finishes the short-time overload left-turn state and refers the running current of the second direct current motor M2 to a reference value
Figure BDA0003319473130000111
Set as the initial value I of the traveling current0Adding the steering current Δ I to the running current reference value of the first direct current motor M1
Figure BDA0003319473130000112
Set as the initial value I of the traveling current0And the crawler-type remote control robot enters a left-turning state.
D) If the crawler-type remote control robot needs to rotate to the right at the moment, the correction strategy of the running current reference values of the motors on the two sides is executed according to the following steps:
step 4-4-1: reference the operating current of the first direct current motor M1
Figure BDA0003319473130000113
Set as rated current I of motorNAnd an overload current IoverloadAdded to the sum, the operating current reference value of the second DC motor M2
Figure BDA0003319473130000114
Set as rated current I of motorNAnd an overload current IoverloadAnd adding the sum, subtracting the steering current delta I, and turning to a step 4-4-2.
Step 4-4-2: judging the running current reference value of the first direct current motor M1 at the moment
Figure BDA0003319473130000115
Whether or not the first overload current limit value I is exceededlim1If the current value does not exceed the reference value, the step 4-4-3 is carried out, and if the current value exceeds the reference value, the running current reference value of the first direct current motor M1 is carried out
Figure BDA0003319473130000116
Set to a first overload current limit value Ilim1Reference value of operating current of the second direct current motor M2
Figure BDA0003319473130000117
Set as the operating current reference value of the first DC motor M1
Figure BDA0003319473130000118
The difference subtracted from the steering current Δ I is transferred to step 4-4-3.
Step 4-4-3: judging the reference value of the running current of the second direct current motor M2 at the moment
Figure BDA0003319473130000119
Whether or not the second overload current limit value I is exceededlim2If not, the crawler-type remote control robot enters into a short timeThe overload right-turn state is carried out, the step 4-4-5 is carried out, if the overload right-turn state is exceeded, the running current reference value of the second direct current motor M2 is set
Figure BDA00033194731300001110
Set to the second overload current limit value Ilim2Reference the operating current of the first direct current motor M1
Figure BDA00033194731300001111
Set as the operating current reference value of the second DC motor M2
Figure BDA00033194731300001112
And adding the sum of the steering current delta I and the steering current delta I, and turning to a step 4-4-4.
Step 4-4-4: judging the running current reference value of the first direct current motor M1 at the moment
Figure BDA00033194731300001113
Whether or not the first overload current limit value I is exceededlim1If the current reference value exceeds the preset value, the crawler-type remote control robot enters a short-time overload right-turn state and goes to the step 4-4-5, and if the current reference value exceeds the preset value, the running current reference value of the first direct current motor M1 is used for controlling the crawler-type remote control robot to run
Figure BDA00033194731300001114
Set to a first overload current limit value Ilim1Reference value of operating current of the second direct current motor M2
Figure BDA00033194731300001115
Set as the operating current reference value of the first DC motor M1
Figure BDA00033194731300001116
The difference subtracted from the steering current Δ I is transferred to step 4-4-3.
Step 4-4-5: the crawler-type remote control robot finishes the short-time overload right-turn state and refers the running current of the first direct current motor M1 to a reference value
Figure BDA0003319473130000121
Set as the initial value I of the traveling current0Adding the steering current delta I to the running current reference value of the second direct current motor M2
Figure BDA0003319473130000122
Set as the initial value I of the traveling current0And the crawler-type remote control robot enters a right-turning state.
E) If the crawler-type remote control robot needs to stop moving at the moment, the correction strategy of the running current reference values of the motors on the two sides is executed according to the following steps:
step 4-5-1: initial value I of traveling current0Overcurrent IoverloadAnd setting the steering current delta I to be zero, and turning to the step 4-5-2.
Step 4-5-2: reference value of running current of first direct current motor M1 of crawler-type remote control robot
Figure BDA0003319473130000123
Reference value of running current of second direct current motor M2
Figure BDA0003319473130000124
And if the values are zero, the crawler-type remote control robot enters a stop state.
And 5: and carrying out current closed-loop control according to the corrected running current reference values of the motors on the left side and the right side of the chassis, so as to realize safe overload running of the chassis motor driving system of the crawler-type remote control robot.
Further, a current control block diagram of the tracked remote-controlled robot motor is shown in fig. 6.
For the first direct current motor M1, when the crawler-type remote control robot works in the non-overload mode, the running current reference value does not exceed the rated current value of the first direct current motor M1
Figure BDA0003319473130000125
As a reference for current closed-loop control, when the tracked remote-controlled robot works in the overload mode, the corrected operating current reference value of the first direct current motor M1 is used as a reference for current closed-loop control, and the first direct current motor M1 is used as a reference for current closed-loop controlActual current I of current motor M11And entering the first current PI controller as a feedback quantity. When the first direct current motor M1 needs to rotate forwards, the first current PI controller outputs the duty ratio of a power device Q1 on the first power board P1
Figure BDA0003319473130000126
To the first drive circuit, in which case the duty cycle of the power device Q4 is set
Figure BDA0003319473130000127
Constant 1, set the duty cycle of power device Q2
Figure BDA0003319473130000128
Duty cycle with power device Q3
Figure BDA0003319473130000129
Constantly 0, so that the first direct current motor M1 rotates forward; when the first direct current motor M1 needs to rotate reversely, the first current PI controller outputs the duty ratio of a power device Q3 on the first power board P1
Figure BDA00033194731300001210
To the first drive circuit, in which case the duty cycle of the power device Q2 is set
Figure BDA00033194731300001211
Constant 1, set the duty cycle of power device Q1
Figure BDA00033194731300001212
Duty cycle with power device Q4
Figure BDA00033194731300001213
And is constantly 0, so that the first direct current motor M1 is reversely rotated.
For the second direct current motor M2, when the crawler-type remote control robot works in the non-overload mode, the running current reference value does not exceed the rated current value of the second direct current motor M2
Figure BDA0003319473130000131
As a reference for current closed-loop control, when the tracked remote-controlled robot works in the overload mode, the corrected operating current reference value of the second dc motor M2 is used as a reference for current closed-loop control, and the actual current I of the second dc motor M2 is used as a reference for current closed-loop control2And entering a second current PI controller as a feedback quantity. When the second direct current motor M2 needs to rotate forwards, the second current PI controller outputs the duty ratio of a power device Q5 on a second power board P2
Figure BDA0003319473130000132
To the second drive circuit, in which case the duty cycle of the power device Q8 is set
Figure BDA0003319473130000133
Constant 1, set the duty cycle of power device Q6
Figure BDA0003319473130000134
Duty cycle with power device Q7
Figure BDA0003319473130000135
Constantly becomes 0, so that the second direct current motor M2 rotates forwards; when the second direct current motor M2 needs to rotate reversely, the second current PI controller outputs the duty ratio of a power device Q7 on a second power board P2
Figure BDA0003319473130000136
To the second drive circuit, in which case the duty cycle of the power device Q6 is set
Figure BDA0003319473130000137
Constant 1, set the duty cycle of power device Q5
Figure BDA0003319473130000138
Duty cycle with power device Q8
Figure BDA0003319473130000139
And is constantly 0, so that the second direct current motor M2 is reversely rotated.
The control of the rotating speeds of the first direct current motor M1 and the second direct current motor M2 is realized by controlling the duty ratios of power devices Q1-Q8 in the first driving circuit and the second driving circuit, so that the crawler-type remote control robot can safely and stably run in an overload mode.

Claims (6)

1. A safe overload control method for a crawler-type remote control robot chassis motor driving system comprises motors on the left side and the right side of a chassis and drivers corresponding to the motors, and is characterized by comprising the following specific control steps:
step 1: the remote controller sends out a traveling control command of the crawler-type remote control robot, wherein the traveling control command comprises an overload traveling command, a traveling direction command, a steering amplitude command and a traveling power command, and the crawler-type remote control robot receives the traveling control command and then shifts to the step 2;
step 2: the crawler-type remote control robot sets running current reference values of motors on the left side and the right side of the chassis according to the received running control command and the running state of the crawler-type remote control robot, and the step 3 is carried out;
and step 3: carrying out closed-loop control on the running temperatures of the motors on the left side and the right side of the chassis and the drivers corresponding to the motors to respectively obtain overload current limit values of the motors on the left side and the right side of the chassis, and turning to the step 4;
and 4, step 4: through comparison of running current reference values of motors on the left side and the right side of the chassis with overload current limit values of the motors, a safety overload control method of a chassis motor driving system is formulated by combining the advancing state of the crawler-type remote control robot, a motor running current reference value correction strategy is provided, the running current reference values of the motors on the left side and the right side of the chassis are corrected, and the step 5 is carried out;
and 5: and carrying out current closed-loop control according to the corrected running current reference values of the motors on the left side and the right side of the chassis, so as to realize safe overload running of the chassis motor driving system of the crawler-type remote control robot.
2. The safety overload control method for the chassis motor driving system of the tracked remote-controlled robot according to claim 1, wherein in the step 1, the functions corresponding to each travel control command of the tracked remote-controlled robot sent by the remote controller are as follows:
the overload traveling command sets the working mode of the crawler-type remote control robot, and the working mode is divided into an overload traveling mode and a non-overload traveling mode;
the advancing direction command sets the advancing direction of the crawler-type remote control robot;
the steering amplitude command sets the steering amplitude of the tracked remote control robot during steering;
the running power command sets the running current reference values of the motors on the left side and the right side of the chassis when the crawler-type remote control robot runs in an overload mode and runs in a non-overload mode;
and the crawler-type remote control robot receives the control command.
3. The safety overload control method for the crawler-type remote-controlled robot chassis motor driving system according to claim 2, characterized by comprising the steps of: in the step 2, the running current reference values of the motors on the left and right sides of the chassis are set according to the running control command and the running state of the crawler-type remote control robot, and the relation of the running current reference values of the motors on the left and right sides of the chassis is as follows:
1) when the crawler-type remote control robot linearly moves forward or moves backward, the running current reference values of the motors on the left side and the right side of the chassis are equal;
2) when the crawler-type remote control robot turns left, the running current reference value of the motor on the left side of the chassis is smaller than that of the motor on the right side of the chassis;
3) when the crawler-type remote control robot turns right, the running current reference value of the motor on the left side of the chassis is larger than that of the motor on the right side of the chassis;
4) when the crawler-type remote control robot stops, the running current reference values of the motors on the left side and the right side of the chassis are both zero.
4. The safety overload control method for the crawler-type remote-controlled robot chassis motor driving system according to claim 3, wherein: in the step 3, the running temperature of the motors and the drivers on the left side and the right side of the crawler-type remote control robot chassis is subjected to closed-loop control, and the real-time temperature of the two motors and the real-time junction temperature of each power device in the drivers on the two sides are required to be input; the temperature closed-loop controller respectively outputs current limiting values of motors and power devices on the left side and the right side of the chassis, and the smaller value of the current limiting values of the motors and the power devices on each side is taken as an overload current limiting value of the chassis motor on the side.
5. The safety overload control method for the crawler-type remote-controlled robot chassis motor driving system according to claim 4, wherein: in the step 4, when the crawler-type remote control robot travels in an overload mode, the running current reference values of the motors on the left side and the right side of the chassis are respectively compared with the overload current limit values, and a safety overload control method of the chassis motor driving system is formulated, and specifically comprises the following steps:
if the running current reference values of the motors on the two sides do not exceed the overload current limit value, the chassis motor driving system is overloaded and run by the current motor running current reference value;
if the running current reference value of at least one motor exceeds the overload current limit value, the running current reference values of the motors on two sides and the respective overload current limit values are repeatedly judged by combining the running state of the tracked robot, and when the running current reference value of the motor on any side exceeds the overload current limit value, the overload current limit value on the side is taken as the running current reference value of the motor on the side, so that the chassis motor driving system can run in an overload mode within the overload current limit value range of the motors on two sides.
6. The safety overload control method for the chassis motor driving system of the tracked remote-controlled robot according to claim 5, wherein the motors on the two sides are respectively a first direct current motor M1 and a second direct current motor M2, and a motor operation current reference value correction strategy in the safety overload control method for the chassis motor driving system is specifically as follows:
A) if the crawler-type remote control robot needs to go forward linearly at the moment, the correction strategy of the running current reference values of the motors on the two sides is executed according to the following steps:
step 4-1-1: reference the operating current of the first direct current motor M1
Figure FDA0003319473120000031
Set as rated current I of motorNAnd an overload current IoverloadAdded to the sum, the operating current reference value of the second DC motor M2
Figure FDA0003319473120000032
Set to the operating current reference value of the first DC motor M1
Figure FDA0003319473120000033
And (4) if the two phases are equal, switching to the step 4-1-2;
step 4-1-2: judging the running current reference value of the first direct current motor M1
Figure FDA0003319473120000034
Whether or not the first overload current limit value I is exceededlim1And a second overload current limit value Ilim2If the smaller value is not exceeded, the crawler-type remote control robot enters a short-time overload linear advancing state and shifts to the step 4-1-3, and if the smaller value is exceeded, the running current reference value of the first direct current motor M1 is used
Figure FDA0003319473120000035
Set to a first overload current limit value Ilim1And a second overload current limit value Ilim2The smaller value of the first and second direct current motors M2, the operating current reference value of the second direct current motor M2
Figure FDA0003319473120000036
Reference value of operating current with first direct current motor M1
Figure FDA0003319473120000037
Equal crawler type remote-controlled robot enters into short-time overload straight-line advancing stateSwitching to the step 4-1-3;
step 4-1-3: the crawler-type remote control robot finishes the short-time overload linear advancing state and refers the running current of the first direct current motor M1 to a reference value
Figure FDA0003319473120000038
Reference value of running current of second direct current motor M2
Figure FDA0003319473120000039
Are all set as the initial value I of the traveling current0The crawler-type remote control robot enters a straight-line advancing state;
B) if the crawler-type remote control robot needs to linearly retreat at the moment, the correction strategy of the running current reference values of the motors on the two sides is executed according to the following steps:
step 4-2-1: reference the operating current of the first direct current motor M1
Figure FDA00033194731200000310
Set as rated current I of motorNAnd an overload current IoverloadAdded to the sum, the operating current reference value of the second DC motor M2
Figure FDA00033194731200000311
Set to the operating current reference value of the first DC motor M1
Figure FDA00033194731200000312
And (4) if the two phases are equal, switching to the step 4-2-2;
step 4-2-2: judging the running current reference value of the first direct current motor M1
Figure FDA00033194731200000313
Whether or not the first overload current limit value I is exceededlim1And a second overload current limit value Ilim2If the smaller value is not exceeded, the crawler-type remote control robot enters a short-time overload linear retreating state and shifts to the step 4-2-3, and if the smaller value is exceeded, the running electricity of the first direct current motor M1 is usedFlow reference value
Figure FDA0003319473120000041
Set to a first overload current limit value Ilim1And a second overload current limit value Ilim2The smaller value of the first and second direct current motors M2, the operating current reference value of the second direct current motor M2
Figure FDA0003319473120000042
Reference value of operating current with first direct current motor M1
Figure FDA0003319473120000043
When the two are equal, the crawler-type remote control robot enters a short-time overload linear retreating state and then the step 4-2-3 is carried out;
step 4-2-3: after the crawler-type remote control robot finishes the short-time overload linear retreating state, the running current reference value of the first direct current motor M1 is used
Figure FDA0003319473120000044
Reference value of running current of second direct current motor M2
Figure FDA0003319473120000045
Are all set as the initial value I of the traveling current0The crawler-type remote control robot enters a linear retreating state;
C) if the crawler-type remote control robot needs to turn left at the moment, the correction strategy of the running current reference values of the motors on the two sides is executed according to the following steps:
step 4-3-1: reference value of running current of second direct current motor M2
Figure FDA0003319473120000046
Set as rated current I of motorNAnd an overload current IoverloadAdded to the sum, the operating current reference value of the first DC motor M1
Figure FDA0003319473120000047
Set as rated current I of motorNAnd an overload current IoverloadAdding the sum, subtracting the steering current delta I, and turning to the step 4-3-2;
step 4-3-2: judging the reference value of the running current of the second direct current motor M2 at the moment
Figure FDA0003319473120000048
Whether or not the second overload current limit value I is exceededlim2If the current value of the second direct current motor M2 is not exceeded, the step 4-3-3 is carried out, and if the current value of the second direct current motor M2 is exceeded, the operation current reference value is carried out
Figure FDA0003319473120000049
Set to the second overload current limit value Ilim2Reference the operating current of the first direct current motor M1
Figure FDA00033194731200000410
Set as the operating current reference value of the second DC motor M2
Figure FDA00033194731200000411
The difference subtracted from the steering current delta I is transferred to a step 4-3-3;
step 4-3-3: judging the running current reference value of the first direct current motor M1 at the moment
Figure FDA00033194731200000412
Whether or not the first overload current limit value I is exceededlim1If the current reference value exceeds the preset value, the crawler-type remote control robot enters a short-time overload left-turn state and goes to the step 4-3-5, and if the current reference value exceeds the preset value, the running current reference value of the first direct current motor M1 is used for controlling the crawler-type remote control robot to run
Figure FDA00033194731200000413
Set to a first overload current limit value Ilim1Reference value of operating current of the second direct current motor M2
Figure FDA00033194731200000414
Set as the running power of the first DC motor M1Flow reference value
Figure FDA00033194731200000415
Adding the sum of the steering current delta I and the steering current delta I, and turning to a step 4-3-4;
step 4-3-4: judging the reference value of the running current of the second direct current motor M2 at the moment
Figure FDA00033194731200000416
Whether or not the second overload current limit value I is exceededlim2If the current reference value exceeds the preset value, the crawler-type remote control robot enters a short-time overload left-turn state and goes to the step 4-3-5, and if the current reference value exceeds the preset value, the running current reference value of the second direct current motor M2 is used for controlling the crawler-type remote control robot to run
Figure FDA0003319473120000051
Set to the second overload current limit value Ilim2Reference the operating current of the first direct current motor M1
Figure FDA0003319473120000052
Set as the operating current reference value of the second DC motor M2
Figure FDA0003319473120000053
The difference subtracted from the steering current delta I is transferred to a step 4-3-3;
step 4-3-5: the crawler-type remote control robot finishes the short-time overload left-turn state and refers the running current of the second direct current motor M2 to a reference value
Figure FDA0003319473120000054
Set as the initial value I of the traveling current0Adding the steering current Δ I to the running current reference value of the first direct current motor M1
Figure FDA0003319473120000055
Set as the initial value I of the traveling current0The crawler-type remote control robot enters a left-turning state;
D) if the crawler-type remote control robot needs to rotate to the right at the moment, the correction strategy of the running current reference values of the motors on the two sides is executed according to the following steps:
step 4-4-1: reference the operating current of the first direct current motor M1
Figure FDA0003319473120000056
Set as rated current I of motorNAnd an overload current IoverloadAdded to the sum, the operating current reference value of the second DC motor M2
Figure FDA0003319473120000057
Set as rated current I of motorNAnd an overload current IoverloadAdding the sum, subtracting the steering current delta I, and turning to a step 4-4-2;
step 4-4-2: judging the running current reference value of the first direct current motor M1 at the moment
Figure FDA0003319473120000058
Whether or not the first overload current limit value I is exceededlim1If the current value does not exceed the reference value, the step 4-4-3 is carried out, and if the current value exceeds the reference value, the running current reference value of the first direct current motor M1 is carried out
Figure FDA0003319473120000059
Set to a first overload current limit value Ilim1Reference value of operating current of the second direct current motor M2
Figure FDA00033194731200000510
Set as the operating current reference value of the first DC motor M1
Figure FDA00033194731200000511
The difference subtracted from the steering current delta I is transferred to a step 4-4-3;
step 4-4-3: judging the reference value of the running current of the second direct current motor M2 at the moment
Figure FDA00033194731200000512
Whether or not to exceed the second passCurrent limit value Ilim2If the current reference value exceeds the preset value, the crawler-type remote control robot enters a short-time overload right-turn state and goes to the step 4-4-5, and if the current reference value exceeds the preset value, the running current reference value of the second direct current motor M2 is used for controlling the crawler-type remote control robot to run
Figure FDA00033194731200000513
Set to the second overload current limit value Ilim2Reference the operating current of the first direct current motor M1
Figure FDA00033194731200000514
Set as the operating current reference value of the second DC motor M2
Figure FDA00033194731200000515
Adding the sum of the steering current delta I and the steering current delta I, and turning to a step 4-4-4;
step 4-4-4: judging the running current reference value of the first direct current motor M1 at the moment
Figure FDA0003319473120000061
Whether or not the first overload current limit value I is exceededlim1If the current reference value exceeds the preset value, the crawler-type remote control robot enters a short-time overload right-turn state and goes to the step 4-4-5, and if the current reference value exceeds the preset value, the running current reference value of the first direct current motor M1 is used for controlling the crawler-type remote control robot to run
Figure FDA0003319473120000062
Set to a first overload current limit value Ilim1Reference value of operating current of the second direct current motor M2
Figure FDA0003319473120000063
Set as the operating current reference value of the first DC motor M1
Figure FDA0003319473120000064
The difference subtracted from the steering current delta I is transferred to a step 4-4-3;
step 4-4-5: crawler-type remote control robot finishes short-time overload right-turn stateReference the operating current of the first direct current motor M1
Figure FDA0003319473120000065
Set as the initial value I of the traveling current0Adding the steering current delta I to the running current reference value of the second direct current motor M2
Figure FDA0003319473120000066
Set as the initial value I of the traveling current0The crawler-type remote control robot enters a right-turning state;
E) if the crawler-type remote control robot needs to stop moving at the moment, the correction strategy of the running current reference values of the motors on the two sides is executed according to the following steps:
step 4-5-1: initial value I of traveling current0Overcurrent IoverloadSetting the steering current delta I to be zero, and turning to the step 4-5-2;
step 4-5-2: reference value of running current of first direct current motor M1 of crawler-type remote control robot
Figure FDA0003319473120000067
Reference value of running current of second direct current motor M2
Figure FDA0003319473120000068
And if the values are zero, the crawler-type remote control robot enters a stop state.
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