CN114572014A - Device control method, device, electronic device and storage medium - Google Patents
Device control method, device, electronic device and storage medium Download PDFInfo
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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
- 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
- B60L15/28—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 without contact making and breaking, e.g. using a transductor
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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
- 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
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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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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
- 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
- B60L2240/423—Torque
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The embodiment of the invention relates to the field of automatic control, and discloses a device control method, a device, electronic equipment and a storage medium. The invention discloses an equipment control method, which is applied to multi-wheel equipment, wherein the multi-wheel equipment comprises at least two wheels, and each wheel is respectively controlled by a corresponding motor, and the method comprises the following steps: acquiring the current movement speed and the target movement speed of the multi-wheel equipment; predicting the direction of an acceleration component of the multi-wheel equipment along a first straight line according to the current movement speed and the target movement speed; the first straight line is a straight line where the multi-wheel equipment is located in the current orientation; according to the direction of the acceleration component, the direction of the moment component along the first straight line for controlling each motor in the multi-wheel equipment is consistent with the direction of the acceleration component. The equipment control method can improve the resource utilization efficiency of the multi-wheel equipment.
Description
Technical Field
The present invention relates to the field of automatic control, and in particular, to a device control method and apparatus, an electronic device, and a storage medium.
Background
Among various automatic control devices, a robot is a common one, the robot is an intelligent machine capable of working semi-autonomously or fully autonomously, many robots are wheel type mobile robots, and most of the wheel type mobile robots are multi-wheel robots, i.e. multi-wheel devices, and during the movement of the multi-wheel devices, the multi-wheel devices experience movement states of acceleration, deceleration, maintenance and the like. For example, in a four-wheeled robot, the driving states of four driving motors of four wheels are different in each state. After the host computer sends down the speed for the motor of four wheels, every motor all has self independent control software, because the road conditions of going etc. reason, the velocity of motion of four wheels probably is different, can form four wheels and drag the problem that leads to the internal consumption of resource of four rounds of robots each other, leads to the resource utilization efficiency of multi-wheel robot to be lower, this is the problem that needs to solve in the automatic control realization process of multi-wheel equipment urgently.
Disclosure of Invention
An object of embodiments of the present invention is to provide a device control method, apparatus, electronic device, and storage medium, which can improve resource utilization efficiency of multiple rounds of devices.
In order to solve the above technical problem, an embodiment of the present invention provides an apparatus control method, which is applied to a multi-wheel apparatus, where the multi-wheel apparatus includes at least two wheels, and each wheel is controlled by a corresponding motor, and the method includes the following steps: acquiring the current movement speed and the target movement speed of the multi-wheel equipment; predicting the direction of an acceleration component of the multi-wheel equipment along a first straight line according to the current movement speed and the target movement speed; the first straight line is a straight line where the multi-wheel equipment is located in the current orientation; according to the direction of the acceleration component, the direction of the moment component along the first straight line for controlling each motor in the multi-wheel equipment is consistent with the direction of the acceleration component.
An embodiment of the present invention further provides a device applied to a multi-wheel device, the multi-wheel device including at least two wheels, each wheel being controlled by a corresponding motor, the device including: the acquisition module is used for acquiring the current movement speed and the target movement speed of the multi-wheel equipment; the prediction module is used for predicting the direction of the acceleration component of the multi-wheel equipment along the first straight line according to the current movement speed and the target movement speed; the first straight line is a straight line where the multi-wheel equipment is located in the current orientation; and the control module is used for controlling the torque component directions of all motors in the multi-wheel equipment along the first straight line to accord with the acceleration component directions according to the acceleration component directions.
An embodiment of the present invention also provides an electronic device, including: at least one processor; a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the apparatus control method described above.
The embodiment of the invention also provides a computer readable storage medium, which stores a computer program, and the computer program realizes the device control method when being executed by a processor.
Compared with the prior art, the embodiment of the invention has the advantages that the direction of the moment component of each motor along the first straight line in the multi-wheel equipment is consistent with the direction of the acceleration component, so that the direction of the moment component of each motor along the first straight line in the multi-wheel equipment without wheels is not opposite to the movement direction of the robot, namely, the movement of each wheel in the multi-wheel equipment is consistent with the overall movement trend of the multi-wheel equipment, the movement of the multi-wheel equipment is not hindered, the resource internal consumption of the multi-wheel equipment is reduced, and the resource utilization efficiency of the multi-wheel equipment is improved.
In addition, according to the direction of the acceleration component, the direction of the moment component along the first straight line for controlling each motor in the multi-wheel equipment is consistent with the direction of the acceleration component, and the method comprises the following steps: setting the direction of the output current of each motor as a first direction according to the direction of the acceleration component; wherein the first direction is a current direction that matches a torque component direction and a speed component direction of each motor. The output current direction of each motor is set to be the first direction, and the first direction is the current direction which enables the torque component direction of each motor to be consistent with the speed component direction, so that the torque component direction of each motor in the multi-wheel equipment along the first straight line can be consistent with the acceleration component direction, and the resource utilization efficiency of the multi-wheel equipment is improved.
In addition, the setting of the direction of the output current of each motor as a first direction includes: respectively setting the maximum value of the output current of each motor in the first direction as the maximum value of the current allowed by the corresponding motor, and setting the maximum value of the output current of each motor in the second direction as 0; wherein the second direction is opposite to the first direction. In the present application, since the second direction is opposite to the first direction, that is, the second direction is a current direction in which the torque component direction and the speed component direction of each motor do not coincide with each other, the maximum value of the output current of each motor in the first direction is set to the maximum value of the current allowed for the corresponding motor, and the maximum value of the output current of each motor in the second direction is set to 0, the output current of each motor can be made to be only along the first direction, and the resource utilization efficiency of the multi-wheel device can be improved.
In addition, after the moment component direction of each motor in the multi-wheel device is controlled to be consistent with the acceleration component direction, the method further comprises the following steps: in the case where the current movement speed exceeds the preset speed, the direction of the moment component of each motor in the multi-wheel apparatus is allowed to include an arbitrary direction. In the application, the moment component directions of the motors in the multi-wheel equipment are allowed to include any direction under the condition that the current movement speed exceeds the preset speed, namely, when the multi-wheel equipment needs to decelerate and stop moving, the multi-wheel equipment can generate the moment opposite to the movement direction, and therefore the safety of the multi-wheel equipment is guaranteed.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings which correspond to and are not to be construed as limiting the embodiments, in which elements having the same reference numeral designations represent like elements throughout, and in which the drawings are not to be construed as limiting in scale unless otherwise specified.
FIG. 1 is a flow chart of the steps of a method for controlling a device provided in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of an apparatus control device provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present invention, and the embodiments may be mutually incorporated and referred to without contradiction.
The embodiment of the invention relates to a device control method. The specific flow is shown in figure 1.
and 103, controlling the torque component directions of the motors in the multi-wheel equipment along the first straight line to accord with the acceleration component directions according to the acceleration component directions.
The device control method of the embodiment is applied to a multi-wheel device, for example, a multi-wheel robot, and can be implemented by a controller or other electronic devices which are in communication connection with motors of the respective wheels. The multi-wheeled device comprises at least two wheels, each wheel being controlled by a respective motor. In various automatic control devices, a robot is a common type, the robot is an intelligent machine capable of working semi-autonomously or fully autonomously, many robots are wheel-type mobile robots on the market, most of the wheel-type mobile robots are multi-wheel devices, and since the multi-wheel devices are subjected to acceleration, deceleration, maintenance and other motion states in the motion process, the wheels of the multi-wheel devices also have various motion states. For example, in a four-wheeled robot, the driving states of four driving motors of four wheels are different in each state. After the host computer sends speed to the motors of the four wheels, each motor has independent control software, and the movement speeds of the four wheels may be different due to smooth driving road conditions and the like, so that the problem of resource internal consumption of the four-wheel robot caused by mutual dragging of the four wheels can be solved.
Specifically, for example, in a four-wheel robot, in a four-wheel four-motor-driven robot, a command is issued by a host to the drive motors of 4 wheels, respectively, to control the movement. The motor also has a control program, and the parameters of the motor are adjusted in real time to reach the commands issued by the host. Therefore, under some special road conditions, the situation that one wheel cannot reach the expected speed, the motor needs to increase the current to increase the torque and increase the speed, meanwhile, the other wheel possibly has too high speed, the motor needs to reduce the speed by increasing the torque in the opposite direction, and then the four-wheel robot can form four-wheel dragging, so that the resource utilization efficiency of the multi-wheel equipment is low.
In the application, the current movement speed and the target movement speed of the multi-wheel equipment are obtained, and the acceleration component direction of the multi-wheel equipment along the first straight line is predicted according to the current movement speed and the target movement speed; the first straight line is a straight line where the multi-wheel equipment faces currently, the torque component directions of the motors in the multi-wheel equipment along the first straight line are controlled to accord with the acceleration component directions according to the acceleration component directions, and the torque component directions of the motors in the multi-wheel equipment along the first straight line are all consistent with the acceleration component directions, so that the torque component directions of the multi-wheel equipment without wheels along the first straight line are not opposite to the motion direction of the robot, namely, the motion of each wheel in the multi-wheel equipment accords with the overall motion trend of the multi-wheel equipment, the motion of the multi-wheel equipment is not hindered, the resource internal consumption of the multi-wheel equipment is reduced, and the resource utilization efficiency of the multi-wheel equipment is improved.
The following describes the implementation details of the device control method of the present embodiment in detail, and the following is only provided for the convenience of understanding and is not necessary for implementing the present embodiment.
In step 101, the multi-wheel device acquires the current movement speed and the target movement speed of the multi-wheel device. The current movement speed is the current movement speed of the multi-wheel device when the target movement speed is issued by the host. The target movement speed is the movement speed in the command issued by the host computer, and is the movement speed which the driving motor of each wheel needs to make each wheel reach.
In step 102, the multi-wheel device predicts the direction of the acceleration component of the multi-wheel device along a first straight line according to the current movement speed and the target movement speed, wherein the first straight line is the straight line where the multi-wheel device faces currently, and the multi-wheel device obtains the direction of the acceleration component of the multi-wheel device along the first straight line by calculating the components of the current movement speed and the target movement speed on the first straight line.
In step 103, the multi-wheel device controls the torque component direction along the first straight line of each motor in the multi-wheel device to accord with the acceleration component direction according to the acceleration component direction, wherein each motor can intercept all commands which are generated and are opposite to the acceleration component direction, and the commands are not executed.
In one example, the multi-wheel device controls the torque component directions of the motors in the multi-wheel device along a first straight line to coincide with the acceleration component direction according to the acceleration component direction by setting the output current directions of the motors to be first directions according to the acceleration component direction, wherein the first directions are current directions which make the torque component directions of the motors coincide with the speed component direction.
In particular, each motor of the multi-wheel device may indicate that the current direction of the device is only in the first direction.
In this embodiment, the output current direction of each motor is set to be the first direction, and the first direction is a current direction which enables the torque component direction of each motor to coincide with the speed component direction, so that the torque component direction of each motor in the multi-wheel device along the first straight line can coincide with the acceleration component direction, and the resource utilization efficiency of the multi-wheel device is improved.
Further, the multi-wheel device achieves the purpose of setting the output current direction of each motor to be the first direction by respectively setting the maximum value of the output current of each motor in the first direction to be the maximum value of the current allowed by the corresponding motor and setting the maximum value of the output current of each motor in the second direction to be 0, wherein the second direction is opposite to the first direction.
In this embodiment, since the second direction is opposite to the first direction, that is, the second direction is a current direction in which the torque component direction and the speed component direction of each motor do not coincide with each other, the maximum value of the output current of each motor in the first direction is set to the maximum value of the current allowed for the corresponding motor, and the maximum value of the output current of each motor in the second direction is set to 0, the output current of each motor can be made to be directed only in the first direction, and the resource utilization efficiency of the multi-wheel apparatus can be improved.
In one example, the multi-wheel device allows the torque component direction of each motor in the multi-wheel device to include any direction in the case that the acceleration is 0, and the torque component direction of each motor in the multi-wheel device is controlled to coincide with the acceleration component direction according to the acceleration component direction.
In particular, the motors corresponding to the respective wheels of the multi-wheel device may cancel the previous intercepting action of the respective instructions.
In this embodiment, by setting that the direction of the moment component of each motor in the multi-wheel device is allowed to be consistent with the current motion speed direction under the condition that the acceleration of the multi-wheel device is 0, the situation that the motion state of the multi-wheel device cannot be changed at a constant speed or in a stationary state can be avoided, and the usability of the device control method of the present application is improved on the basis of improving the resource utilization efficiency of the multi-wheel device.
In one example, the maximum value of the output current of each motor in each direction can be set as the maximum value of the current allowed by the corresponding motor by the multiple-wheel device, so that the torque component direction of each motor in the multiple-wheel device can comprise any direction.
In this embodiment, by setting the maximum value of the output current of each motor in each direction as the maximum value of the current allowed by the corresponding motor, it is possible to allow the torque component direction of each motor in the multi-wheel device to include any direction, thereby improving the usability of the device control method of the present application.
In one example, after the moment component directions of the motors in the multi-wheel device are controlled to coincide with the acceleration component directions, the multi-wheel device also allows the moment component directions of the motors in the multi-wheel device to include any directions in the case that the current movement speed exceeds the preset speed.
In this embodiment, when the current movement speed exceeds the preset speed, the torque component directions of the motors in the multi-wheel device are allowed to include any direction, that is, when the multi-wheel device needs to decelerate and stop moving, the multi-wheel device can generate a torque opposite to the movement direction, so that the safety of the multi-wheel device is ensured.
In one example, the control device in the multiple rounds of devices executes the device control method of the present application each time a speed command issued by the host is received, and the method is implemented by the following steps:
step 1, after the host computer issues a speed command v, the control device receives the current speed and calculates delta v-v 0. And judging the motion state of the robot according to the step 2.
And 2, if the current speed v is greater than zero, judging delta, if the delta is greater than zero, accelerating in the positive direction, if the delta is less than zero, decelerating in the positive direction, and if the delta is equal to zero, maintaining in the positive direction.
If the current speed v is less than zero, judging delta, if the delta is less than zero, then accelerating reversely, if the delta is more than zero, then decelerating reversely, if the delta is equal to zero, then maintaining reversely.
If the current speed v is equal to zero, delta is judged, if delta is larger than zero, the speed is decelerated in the reverse direction, if delta is smaller than zero, the speed is decelerated in the forward direction, and if delta is equal to zero, the speed is kept still.
And 3, storing the current speed v to cover v0 for the next calculation.
And 4, respectively setting the current directions of the motors according to the obtained states to achieve the aim of controlling the torque direction. For example, the maximum current in the positive and negative directions is max ═ 1 and min ═ 1, respectively. Then according to the above state, the forward hold and forward acceleration set currents max is 1, min is 0; setting the current max to be 0 and min to be-1 in the forward deceleration;
reverse hold and reverse acceleration set current max is 0, min is-1; setting the current max to be 1 and min to be 0 in the reverse deceleration; the stationary set current max is held at 1 and min at-1.
And 5, waiting for the next round of calculation.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
An embodiment of the present invention further provides an apparatus control device, which is applied to a multi-wheel apparatus, where the multi-wheel apparatus includes at least two wheels, and each wheel is controlled by a corresponding motor, as shown in fig. 2, the device includes:
an obtaining module 201, configured to obtain current movement speeds and target movement speeds of multiple rounds of equipment;
the prediction module 202 is used for predicting the direction of the acceleration component of the multi-wheel equipment along a first straight line according to the current movement speed and the target movement speed; the first straight line is a straight line where the multi-wheel equipment is located in the current orientation;
and the control module 203 is used for controlling the torque component directions of all the motors in the multi-wheel equipment along the first straight line to accord with the acceleration component directions according to the acceleration component directions.
In one example, the moment component direction along the first straight line for controlling each motor in the multi-wheel device is consistent with the acceleration component direction according to the acceleration component direction, and the method comprises the following steps: setting the output current direction of each motor as a first direction according to the direction of the acceleration component; wherein the first direction is a current direction that matches a torque component direction and a speed component direction of each motor.
In one example, setting the direction of the output current of each motor to a first direction includes: respectively setting the maximum value of the output current of each motor in the first direction as the maximum value of the current allowed by the corresponding motor, and setting the maximum value of the output current of each motor in the second direction as 0; wherein the second direction is opposite to the first direction.
In one example, the direction of the torque component controlling the motors in each of the multi-wheeled devices is coincident with the direction of the acceleration component, based on the direction of the acceleration component, including; in the case of an acceleration of 0, the direction of the moment component of each motor in the multi-wheel device is allowed to coincide with the current movement speed direction.
In one example, the torque component direction of each motor in the multi-wheel device is allowed to include any direction, including: the maximum value of the output current of each motor in each direction is set as the maximum value of the current allowed by the corresponding motor.
In one example, after the torque component directions of the motors in the multi-wheel device are controlled to coincide with the acceleration component directions, the torque component directions of the motors in the multi-wheel device are allowed to include any directions in the case that the current movement speed exceeds the preset speed.
It should be noted that, all the modules involved in this embodiment are logic modules, and in practical application, one logic unit may be one physical unit, may also be a part of one physical unit, and may also be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.
A fourth embodiment of the present invention relates to an electronic apparatus, as shown in fig. 3, including: at least one processor 301; a memory 302 communicatively coupled to the at least one processor; the memory 302 stores instructions executable by the at least one processor 301, and the instructions are executed by the at least one processor 301 to perform the device control method.
Where the memory 302 and the processor 301 are coupled in a bus, the bus may comprise any number of interconnected buses and bridges that couple one or more of the various circuits of the processor 301 and the memory 302 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. Information processed by processor 301 is transmitted over a wireless medium through an antenna, which further receives the information and passes the information to processor 301.
The processor 301 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And the memory 302 may be used to store information used by the processor in performing operations.
An embodiment of the present invention relates to a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (9)
1. An apparatus control method applied to a multi-wheel apparatus including at least two wheels each controlled by a corresponding motor, the method comprising:
acquiring the current movement speed and the target movement speed of the multi-wheel equipment;
predicting the direction of an acceleration component of the multi-wheel equipment along a first straight line according to the current movement speed and the target movement speed; the first straight line is a straight line where the multi-wheel equipment is located in the current orientation;
and controlling the moment component direction of each motor in the multi-wheel equipment along a first straight line to accord with the acceleration component direction according to the acceleration component direction.
2. The apparatus control method according to claim 1, wherein the controlling of the directions of the moment components along the first straight line of the motors in the multi-wheel apparatus in accordance with the directions of the acceleration components all coincide with the directions of the acceleration components includes:
setting the direction of the output current of each motor as a first direction according to the direction of the acceleration component;
wherein the first direction is a current direction that makes the torque component direction of each motor coincide with the speed component direction.
3. The apparatus control method according to claim 2, wherein the setting of the direction of the output current of each motor to be a first direction includes:
respectively setting the maximum value of the output current of each motor in the first direction as the maximum value of the current allowed by the corresponding motor, and setting the maximum value of the output current of each motor in the second direction as 0;
wherein the second direction is opposite to the first direction.
4. The apparatus control method according to claim 1, wherein said controlling the torque component direction of the motor in each of the multi-wheeled apparatus in accordance with the acceleration component direction includes;
and in the case that the acceleration is 0, allowing the torque component direction of each motor in the multi-wheel device to be consistent with the current movement speed direction.
5. The apparatus control method according to claim 4, wherein the allowing the direction of the moment component of each motor in the multi-wheel apparatus to include an arbitrary direction includes:
the maximum value of the output current of each motor in each direction is set as the maximum value of the current allowed by the corresponding motor.
6. The apparatus control method according to any one of claims 1 to 5, characterized in that after the control of the torque component direction of each motor in the multi-wheel apparatus coincides with the acceleration component direction, the method further comprises:
and allowing the moment component direction of each motor in the multi-wheel equipment to comprise any direction under the condition that the current movement speed exceeds a preset speed.
7. An apparatus control device, applied to a multi-wheeled apparatus including at least two wheels, each wheel being controlled by a corresponding motor, the apparatus comprising:
the acquisition module is used for acquiring the current movement speed and the target movement speed of the multi-wheel equipment;
the prediction module is used for predicting the direction of the acceleration component of the multi-wheel equipment along a first straight line according to the current movement speed and the target movement speed; the first straight line is a straight line where the multi-wheel equipment is located in the current orientation;
and the control module is used for controlling the torque component directions of all motors in the multi-wheel equipment along the first straight line to accord with the acceleration component directions according to the acceleration component directions.
8. An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the device control method of any one of claims 1 to 6.
9. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the device control method of any one of claims 1 to 6.
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