CN114872782A - Four-wheel omnidirectional chassis control method and system - Google Patents
Four-wheel omnidirectional chassis control method and system Download PDFInfo
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- CN114872782A CN114872782A CN202210460697.5A CN202210460697A CN114872782A CN 114872782 A CN114872782 A CN 114872782A CN 202210460697 A CN202210460697 A CN 202210460697A CN 114872782 A CN114872782 A CN 114872782A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- 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
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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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the 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
- 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
- B60L2240/421—Speed
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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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
The invention provides a four-wheel omnidirectional chassis control method and a system, comprising the following steps: step S1: setting chassis parameters; step S2: receiving the speed of the control chassis; step S3: calculating the poses of the four steering engines and the speeds of the four straight-moving motors according to the speeds; step S4: and reading the current position of the steering engine and the current speed of the straight-moving motor to calculate the cost configuration with the minimum cost, and outputting the position and the speed of the steering engine and the speed of the motor. The invention provides a motion resolving mode of a universal four-wheel four-steering engine omnidirectional chassis; the invention provides a self-adaptive steering engine angle and motor speed control method, which improves the motor control smoothness from a multi-configuration mode and prevents the problem of steering engine shaking caused by sudden speed change.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a four-wheel omnidirectional chassis control method and system.
Background
The four-wheel four-steering engine moving chassis is limited by the narrow environment of a toilet and the requirement of obstacle crossing required by waterproof ridges, the four-wheel chassis similar to Ackerman cannot move in the narrow environment, and the general omnidirectional moving chassis cannot meet the obstacle crossing condition, so that the four-wheel four-steering engine moving chassis is required. Because the steering of the straight-moving motor and the steering engine have the same control speed and multiple configurations in the direction, the steering engine and the straight-moving motor jump greatly in the traditional control algorithm, and the control smoothness and the service life of the motor are influenced.
Patent document CN107600221B, application (patent) No. 201710750897.3 provides an intelligent omnidirectional AGV trolley and a control method, including drive device, ultrasonic sensor unit (2), motion indicator lamp unit (5), navigation sensor unit (7), main control unit (8), carriage (9) be a box with a certain height to the chassis of carriage (9) is the square of removing four angles, drive device includes omnidirectional wheel unit (1), motor drive unit (3), motor unit (4), drive device installs on the chassis of carriage (9), main control unit (8) install in carriage (9), ultrasonic sensor unit (2) are 4. According to the invention, through the structural design of the AGV trolley, the AGV trolley can rotate in place in a narrow space or even at a zero radius, and the AGV trolley can move towards an appointed direction by giving different x, y and theta. But the invention adopts 4 omnidirectional wheels; what adopt in this patent is 4 steering wheels 4 straight-ahead motor.
Patent document CN104216406B, application (patent) No. 201310219764.5 provides a control device and a control method for a four-wheel drive omnidirectional chassis, which are applicable to the field of robot chassis movement control, wherein a wireless serial communication module is used for receiving an instruction from a wireless serial communication module connected with a computer, the instruction information includes a position value and an attitude angle value of a target point to which the four-wheel drive omnidirectional chassis is to move, and the received instruction is transmitted to an upper computer ARM; the FPGA fuses the counting circuit and the information acquisition circuit, the FPGA acquires and processes data of the code disc counting module, and then the data are transmitted to the ARM through the general I/O interface, meanwhile, the FPGA also serves as an interface circuit, and a control instruction of the ARM is transmitted to the direct current motor control module, so that the control of the rotating speed and the direction of the direct current motor is completed; the ARM is a core control module of the whole control device and is used for fusing received data, realizing real-time settlement of the pose of the four-wheel drive omnidirectional chassis and completing real-time control of the four direct current motors. However, the invention adopts 4 omni wheels, and the difference from the comparison 1 is the four-wheel mounting position; what adopt in this patent is 4 steering wheels 4 straight-ahead motor.
Patent document WO2019000436a1 (application number: PCT/CN2017/091282) discloses a four-wheel chassis, a two-wheel chassis, an assembly and a control method, the four-wheel chassis including: the vehicle comprises a vehicle body (1), a front wheel module (2) and a rear wheel module (3); the front wheel module (2) and the rear wheel module (3) are respectively detachably connected with the vehicle body (1); the front wheel module (2) or the rear wheel module (3) is detached from the vehicle body (1) and then independently moves as a two-wheeled chassis. But the invention adopts 4 omnidirectional wheels; what adopt in this patent is 4 steering wheels 4 straight-ahead motor.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a four-wheel omnidirectional chassis control method and a four-wheel omnidirectional chassis control system.
The invention provides a four-wheel omnidirectional chassis control method, which comprises the following steps:
step S1: setting chassis parameters;
step S2: receiving the speed of the control chassis;
step S3: calculating the poses of the four steering engines and the speeds of the four straight-moving motors according to the speeds;
step S4: and reading the current position of the steering engine and the current speed of the straight-moving motor to calculate the cost configuration with the minimum cost, and outputting the position and the speed of the steering engine and the speed of the motor.
Preferably, in the step S1:
setting chassis parameters includes: the wheel diameter r of the straight wheel, the wheel track base _ x of the front wheel and the rear wheel, the wheel track base _ y of the left wheel and the right wheel, and the rotating speed servo _ w of the steering engine.
Preferably, in the step S3:
step S3.1: calculating the linear speed v _ b of the chassis:
v_b＝sqrt((x^2+y^2))
x is the linear velocity in the x direction, and y is the linear velocity in the y direction;
step S3.2, calculating the rotating radius turning _ r of the chassis:
turning_r＝v_b/w
w is the angular velocity;
under the command of speed v [ x, y, w ], the chassis takes o as a rotation center, turning _ r as a rotation radius and v _ b as running speed movement;
step S3.3: calculating the steering engine position th _ i and the inner side wheel rotating radius turning _ r _ inner of the inner side wheel:
th_i＝atan(y_track/2,turning_r-(x_wheel/2))
turning_r_inner＝sqrt((turning_r-x_wheel/2)^2+(y_track_/2)^2))
y _ track is the left and right wheel track, and x _ wheel is the front and rear wheel track;
s3.4, calculating the steering engine position th _ o and the rotating radius turning _ r _ outer of the outer wheel:
th_o＝atan(y_track_/2,turning_radius+(x_wheel_base_/2))
turning_r_outer＝sqrt((turning_r+x_wheel/2)^2+(y_track_/2)^2))
y _ track is the left and right wheel track, x _ wheel _ base is the front and rear wheel track, turning _ radius is the rotation radius;
step S3.5: calculating the inner wheel straight-moving motor speed rpm _ inner and the outer wheel straight-moving motor speed rpm _ outer:
rpm_inner＝w*turning_r_inner
rpm_outer＝w*turning_r_outer
step S3.6: determining the medial direction
If v _ b w >0, the inner side is the left side, and if v _ b w is less than or equal to 0, the inner side is the right side;
and S3.7, if the inner side is the left side, the control issued to the 4 straight-moving motors and the 4 steering wheels is as follows:
left front steering engine: th _ i
Left rear steering engine: -th _ i
Right front steering wheel: th _ o
Right rear steering engine: -th _ o
Left front motor: rpm _ inner
Left rear motor: rpm _ inner
A front right motor: rpm _ outer
A right rear motor: rpm _ outer
If the inner side is the right side, the control issued to the 4 straight-moving motors and the 4 steering wheels is as follows:
rotation angle of the left front steering engine: th _ o
Rotation angle of the left rear steering engine: -th _ o
Rotation angle of the right front steering engine: th _ i
Rotation angle of the right rear steering engine: -th _ i
Left front motor speed: rpm _ outer
Left rear motor speed: rpm _ outer
Right front motor speed rpm _ inner
The rotating speed of a rear right motor is as follows: rpm _ inner
Preferably, in the step S4:
reading current _ servo _1, current _ servo _2, current _ servo _3, current _ servo _4 and the current _ wheel _4 of the current speed of 4 linear motors at the current positions of the four steering engines to current _ wheel _1, current _ wheel _2, current _ wheel _3 and current _ wheel _4, and obtaining data through chassis feedback; and calculating the cost configurations of target _ servo and target _ wheel with the minimum cost according to a cost calculation formula, and outputting the position and the speed of the steering engine and the motor.
Preferably, step S4.1: defining cost values cost _ servo and cost _ wheel, wherein the cost _ servo represents the cost value required by the change of the steering engine, and the cost _ wheel represents the cost value required by the change of the wheel;
step S4.2: for each steering engine and each motor, setting a steering engine angle th _ i and a motor speed rpm _ i, and acquiring a current steering engine angle th _ c and a current motor speed and rpm _ c;
step S4.3: cost values p1_ cost and p2_ cost for both configurations are calculated
p1_cost＝fabs(th_i-th_c)*cost_servo+fabs(rpm_i-rpm_c)*cost_wheel
p2_cost＝fabs((th_i+180)％180-th_c)*cost_servo+fabs(-rpm_i-rpm_c)*cost_wheel
Step S4.4: and the corresponding configuration with the smallest cost value is selected from the p1_ cost and the p2_ cost and is output to the motor control.
The invention provides a four-wheel omnidirectional chassis control system, which comprises:
module M1: setting chassis parameters;
module M2: receiving the speed of the control chassis;
module M3: calculating the poses of the four steering engines and the speeds of the four straight-moving motors according to the speeds;
module M4: and reading the current position of the steering engine and the current speed of the straight-moving motor to calculate the cost configuration with the minimum cost, and outputting the position and the speed of the steering engine and the speed of the motor.
Preferably, in said module M1:
setting chassis parameters includes: the wheel diameter r of the straight wheel, the wheel track base _ x of the front wheel and the rear wheel, the wheel track base _ y of the left wheel and the right wheel, and the rotating speed servo _ w of the steering engine.
Preferably, in said module M3:
module M3.1: calculating the linear speed v _ b of the chassis:
v_b＝sqrt((x^2+y^2))
x is the linear velocity in the x direction, and y is the linear velocity in the y direction;
module M3.2 calculates the chassis rotation radius turning _ r:
turning_r＝v_b/w
w is the angular velocity;
under the command of speed v [ x, y, w ], the chassis takes o as a rotation center, turning _ r as a rotation radius and v _ b as running speed movement;
module M3.3: calculating the steering engine position th _ i and the inner side wheel rotating radius turning _ r _ inner of the inner side wheel:
th_i＝atan(y_track/2,turning_r-(x_wheel/2))
turning_r_inner＝sqrt((turning_r-x_wheel/2)^2+(y_track_/2)^2))
y _ track is the left and right wheel track, and x _ wheel is the front and rear wheel track;
and a module M3.4, calculating the steering engine position th _ o and the rotating radius turning _ r _ outer of the outer wheel:
th_o＝atan(y_track_/2,turning_radius+(x_wheel_base_/2))
turning_r_outer＝sqrt((turning_r+x_wheel/2)^2+(y_track_/2)^2))
y _ track is the left and right wheel track, x _ wheel _ base is the front and rear wheel track, turning _ radius is the rotation radius;
module M3.5: calculating the inner wheel straight-moving motor speed rpm _ inner and the outer wheel straight-moving motor speed rpm _ outer:
rpm_inner＝w*turning_r_inner
rpm_outer＝w*turning_r_outer
module M3.6: determining the medial direction
If v _ b w is more than 0, the inner side is the left side, and if v _ b w is less than or equal to 0, the inner side is the right side;
if the inner side of the module M3.7 is the left side, the control issued to the 4 direct motors and the 4 steering wheels is as follows:
left front steering engine: th _ i
Left rear steering engine: -th _ i
Right front steering wheel: th _ o
Right rear steering engine: -th _ o
Left front motor: rpm _ inner
Left rear motor: rpm _ inner
A front right motor: rpm _ outer
A right rear motor: rpm _ outer
If the inner side is the right side, the control issued to the 4 straight-moving motors and the 4 steering wheels is as follows:
rotation angle of the left front steering engine: th _ o
Left rear steering engine rotation angle: -th _ o
Rotation angle of the right front steering engine: th _ i
The rotation angle of the right rear steering engine: -th _ i
Left front motor speed: rpm _ outer
Left rear motor speed: rpm _ outer
Right front motor speed rpm _ inner
The rotating speed of a rear right motor is as follows: rpm _ inner
Preferably, in said module M4:
reading current _ servo _1, current _ servo _2, current _ servo _3, current _ servo _4 and the current _ wheel _4 of the current speed of 4 linear motors at the current positions of the four steering engines to current _ wheel _1, current _ wheel _2, current _ wheel _3 and current _ wheel _4, and obtaining data through chassis feedback; and calculating the cost configurations of target _ servo and target _ wheel with the minimum cost according to a cost calculation formula, and outputting the position and the speed of the steering engine and the motor.
Preferably, the module M4.1: defining cost values cost _ servo and cost _ wheel, wherein the cost _ servo represents the cost value required by the change of the steering engine, and the cost _ wheel represents the cost value required by the change of the wheel;
module M4.2: for each steering engine and each motor, setting a steering engine angle th _ i and a motor speed rpm _ i, and acquiring a current steering engine angle th _ c and a current motor speed and rpm _ c;
module M4.3: cost values p1_ cost and p2_ cost for both configurations are calculated
p1_cost＝fabs(th_i-th_c)*cost_servo+fabs(rpm_i-rpm_c)*cost_wheel
p2_cost＝fabs((th_i+180)％180-th_c)*cost_servo+fabs(-rpm_i-rpm_c)*cost_wheel
Module M4.4: and the corresponding configuration with the smallest cost value is selected from the p1_ cost and the p2_ cost and is output to the motor control.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a motion resolving mode of a universal four-wheel four-steering engine omnidirectional chassis;
2. the invention provides a self-adaptive steering engine angle and motor speed control method, which improves the motor control smoothness from a multi-configuration mode and prevents the problem of steering engine shaking caused by sudden speed change.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of a four-wheel chassis;
FIG. 2 is a diagram of a model of the motion of a four-wheeled chassis;
FIG. 3 is a same speed manifold.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1:
the four-wheel omnidirectional chassis control method provided by the invention, as shown in fig. 1-3, comprises the following steps:
step S1: setting chassis parameters;
step S2: receiving the speed of the control chassis;
step S3: calculating the poses of the four steering engines and the speeds of the four straight-moving motors according to the speeds;
step S4: and reading the current position of the steering engine and the current speed of the straight-moving motor to calculate the cost configuration with the minimum cost, and outputting the position and the speed of the steering engine and the speed of the motor.
Specifically, in the step S1:
setting chassis parameters includes: the wheel diameter r of the straight wheel, the wheel track base _ x of the front wheel and the rear wheel, the wheel track base _ y of the left wheel and the right wheel, and the rotating speed servo _ w of the steering engine.
Specifically, in the step S3:
step S3.1: calculating the linear speed v _ b of the chassis:
v_b＝sqrt((x^2+y^2))
x is the linear velocity in the x direction, and y is the linear velocity in the y direction;
step S3.2, calculating the rotating radius turning _ r of the chassis:
turning_r＝v_b/w
w is the angular velocity;
under the command of speed v [ x, y, w ], the chassis takes o as a rotation center, turning _ r as a rotation radius and v _ b as running speed movement;
step S3.3: calculating the steering engine position th _ i and the inner side wheel rotating radius turning _ r _ inner of the inner side wheel:
th_i＝atan(y_track/2,turning_r-(x_wheel/2))
turning_r_inner＝sqrt((turning_r-x_wheel/2)^2+(y_track_/2)^2))
y _ track is the left and right wheel track, and x _ wheel is the front and rear wheel track;
s3.4, calculating the steering engine position th _ o and the rotating radius turning _ r _ outer of the outer wheel:
th_o＝atan(y_track_/2,turning_radius+(x_wheel_base_/2))
turning_r_outer＝sqrt((turning_r+x_wheel/2)^2+(y_track_/2)^2))
y _ track is the left and right wheel track, x _ wheel _ base is the front and rear wheel track, turning _ radius is the rotation radius;
step S3.5: calculating the inner wheel straight-moving motor speed rpm _ inner and the outer wheel straight-moving motor speed rpm _ outer:
rpm_inner＝w*turning_r_inner
rpm_outer＝w*turning_r_outer
step S3.6: determining the medial direction
If v _ b w >0, the inner side is the left side, and if v _ b w is less than or equal to 0, the inner side is the right side;
and S3.7, if the inner side is the left side, the control issued to the 4 straight-moving motors and the 4 steering wheels is as follows:
left front steering engine: th _ i
Left rear steering engine: -th _ i
Right front steering wheel: th _ o
Right rear steering engine: -th _ o
Left front motor: rpm _ inner
Left rear motor: rpm _ inner
A front right motor: rpm _ outer
A right rear motor: rpm _ outer
If the inner side is the right side, the control issued to the 4 straight-moving motors and the 4 steering wheels is as follows:
rotation angle of the left front steering engine: th _ o
Rotation angle of the left rear steering engine: -th _ o
Rotation angle of the right front steering engine: th _ i
Rotation angle of the right rear steering engine: -th _ i
Left front motor speed: rpm _ outer
Left rear motor speed: rpm _ outer
Right front motor speed rpm _ inner
The rotating speed of a rear right motor is as follows: rpm _ inner
Specifically, in the step S4:
reading current _ servo _1, current _ servo _2, current _ servo _3, current _ servo _4 and the current _ wheel _4 of the current speed of 4 linear motors at the current positions of the four steering engines to current _ wheel _1, current _ wheel _2, current _ wheel _3 and current _ wheel _4, and obtaining data through chassis feedback; and calculating the target _ servo and target _ wheel cost configurations with the minimum cost according to a cost calculation formula, and outputting the position and the attitude of the steering engine and the speed of the motor.
Specifically, step S4.1: defining cost values cost _ servo and cost _ wheel, wherein the cost _ servo represents the cost value required by the change of the steering engine, and the cost _ wheel represents the cost value required by the change of the wheel;
step S4.2: for each steering engine and each motor, setting a steering engine angle th _ i and a motor speed rpm _ i, and acquiring a current steering engine angle th _ c and a current motor speed and rpm _ c;
step S4.3: cost values p1_ cost and p2_ cost for both configurations are calculated
p1_cost＝fabs(th_i-th_c)*cost_servo+fabs(rpm_i-rpm_c)*cost_wheelp2_cost＝fabs((th_i+180)％180-th_c)*cost_servo+fabs(-rpm_i-rpm_c)*cost_wheel
Step S4.4: and the corresponding configuration with the smallest cost value is selected from the p1_ cost and the p2_ cost and is output to the motor control.
Example 2:
example 2 is a preferred example of example 1, and the present invention will be described in more detail.
The four-wheel omnidirectional chassis control method provided by the invention can be understood as a specific implementation manner of the four-wheel omnidirectional chassis control system by those skilled in the art, that is, the four-wheel omnidirectional chassis control system can be implemented by executing the step flow of the four-wheel omnidirectional chassis control method.
The invention provides a four-wheel omnidirectional chassis control system, which comprises:
module M1: setting chassis parameters;
module M2: receiving the speed of the control chassis;
module M3: calculating the poses of the four steering engines and the speeds of the four straight-moving motors according to the speeds;
module M4: and reading the current position of the steering engine and the current speed of the straight-moving motor to calculate the cost configuration with the minimum cost, and outputting the position and the speed of the steering engine and the speed of the motor.
Specifically, in the module M1:
setting chassis parameters includes: the wheel diameter r of the straight wheel, the wheel track base _ x of the front wheel and the rear wheel, the wheel track base _ y of the left wheel and the right wheel, and the rotating speed servo _ w of the steering engine.
Specifically, in the module M3:
module M3.1: calculating the linear speed v _ b of the chassis:
v_b＝sqrt((x^2+y^2))
x is the linear velocity in the x direction, and y is the linear velocity in the y direction;
module M3.2 calculates the chassis rotation radius turning _ r:
turning_r＝v_b/w
w is the angular velocity;
under the command of speed v [ x, y, w ], the chassis takes o as a rotation center, turning _ r as a rotation radius and v _ b as running speed movement;
module M3.3: calculating the steering engine position th _ i and the inner side wheel rotating radius turning _ r _ inner of the inner side wheel:
th_i＝atan(y_track/2,turning_r-(x_wheel/2))
turning_r_inner＝sqrt((turning_r-x_wheel/2)^2+(y_track_/2)^2))
y _ track is the left and right wheel track, and x _ wheel is the front and rear wheel track;
and a module M3.4, calculating the steering engine position th _ o and the rotating radius turning _ r _ outer of the outer wheel:
th_o＝atan(y_track_/2,turning_radius+(x_wheel_base_/2))
turning_r_outer＝sqrt((turning_r+x_wheel/2)^2+(y_track_/2)^2))
y _ track is the left and right wheel track, x _ wheel _ base is the front and rear wheel track, turning _ radius is the radius of rotation;
module M3.5: calculating the inner wheel straight-moving motor speed rpm _ inner and the outer wheel straight-moving motor speed rpm _ outer:
rpm_inner＝w*turning_r_inner
rpm_outer＝w*turning_r_outer
module M3.6: determining the medial direction
If v _ b w is more than 0, the inner side is the left side, and if v _ b w is less than or equal to 0, the inner side is the right side;
if the inner side of the module M3.7 is the left side, the control issued to the 4 direct motors and the 4 steering wheels is as follows:
left front steering engine: th _ i
Left rear steering engine: -th _ i
Right front steering wheel: th _ o
Right rear steering engine: -th _ o
Left front motor: rpm _ inner
Left rear motor: rpm _ inner
A front right motor: rpm _ outer
A right rear motor: rpm _ outer
If the inner side is the right side, the control issued to the 4 straight-moving motors and the 4 steering wheels is as follows:
rotation angle of the left front steering engine: th _ o
Rotation angle of the left rear steering engine: -th _ o
Rotation angle of the right front steering engine: th _ i
Rotation angle of the right rear steering engine: -th _ i
Left front motor speed: rpm _ outer
Left rear motor speed: rpm _ outer
Right front motor speed rpm _ inner
The rotating speed of a rear right motor is as follows: rpm _ inner
Specifically, in the module M4:
reading current _ servo _1, current _ servo _2, current _ servo _3, current _ servo _4 and the current _ wheel _4 of the current speed of 4 linear motors at the current positions of the four steering engines to current _ wheel _1, current _ wheel _2, current _ wheel _3 and current _ wheel _4, and obtaining data through chassis feedback; and calculating the cost configurations of target _ servo and target _ wheel with the minimum cost according to a cost calculation formula, and outputting the position and the speed of the steering engine and the motor.
Specifically, module M4.1: defining cost values cost _ servo and cost _ wheel, wherein the cost _ servo represents the cost value required by the change of the steering engine, and the cost _ wheel represents the cost value required by the change of the wheel;
module M4.2: for each steering engine and each motor, setting a steering engine angle th _ i and a motor speed rpm _ i, and acquiring a current steering engine angle th _ c and a current motor speed and rpm _ c;
module M4.3: cost values p1_ cost and p2_ cost for two configurations are calculated
p1_cost＝fabs(th_i-th_c)*cost_servo+fabs(rpm_i-rpm_c)*cost_wheelp2_cost＝fabs((th_i+180)％180-th_c)*cost_servo+fabs(-rpm_i-rpm_c)*cost_wheel
Module M4.4: and the corresponding configuration with the smallest cost value is selected from the p1_ cost and the p2_ cost and is output to the motor control.
Example 3:
example 3 is a preferred example of example 1, and the present invention will be described in more detail.
In view of the above-mentioned drawbacks of the prior art, the technical problems to be solved by the present invention are as follows:
1) provides a smooth and universal four-wheel four-steering engine control algorithm which is suitable for a chassis similar to the chassis shown in figure 1
2) A cost calculation method is provided for selecting the smoothest motor steering and steering engine direction configuration
The method comprises the following steps:
step 1: setting relevant parameters of the chassis, including straight wheel diameter r, front and rear wheel track base _ x, left and right wheel track base _ y and steering engine rotating speed servo _ w
Step 2: receiving the speed v [ x, y, w ] of the control chassis;
x represents a linear velocity in the x direction, y represents a linear velocity in the y direction, and w represents an angular velocity;
and step 3: calculating the poses of 4 steering engines as target _ i _ servo _ 1-4 according to the speed v, and the speeds of 4 straight motors to target _ i _ wheel _ 1-4, wherein a motion model diagram is shown in figure 2, and at the moment, two configurations exist, i is 0 or 1, and a double-configuration problem is shown in figure 3;
and 4, step 4: reading current _ servo _ 1-4 current positions of four steering engines and current _ wheel _ 1-4 current speeds of 4 linear motors, and feeding back data from a chassis; and calculating the cost configurations of target _ servo and target _ wheel with the minimum cost according to a cost calculation formula, namely the final output steering engine pose and the motor speed.
Step 3 comprises the following steps, detailed in figure 2 motion model:
step 3.1 calculating the chassis linear velocity
v_b＝sqrt((x^2+y^2))
Step 3.2 calculate the radius of rotation of the chassis
turning_r＝v_b/w
That is, the chassis is required to move with o as the rotation center, turning _ r as the rotation radius and v _ b as the driving speed under the command of the speed v [ x, y, w ].
Step 3.3, calculating the position of the steering engine of the inner side wheel and the rotating radius of the inner side wheel
th_i＝atan(y_track/2,turning_r-(x_wheel/2))
turning_r_inner＝sqrt((turning_r-x_wheel/2)^2+(y_track_/2)^2))
Step 3.4, calculating the position of the steering engine of the outer side wheel and the rotating radius of the outer side wheel
th_o＝atan(y_track_/2,turning_radius+(x_wheel_base_/2))
turning_r_outer＝sqrt((turning_r+x_wheel/2)^2+(y_track_/2)^2))
Step 3.5 calculate the speed of the inline motors of the inboard and outboard wheels
rpm_inner＝w*turning_r_inner；
rpm_outer＝w*turning_r_outer；
Step 3.6 determines the inside direction, left or right
If v _ b w >0, the inner side is the left side, otherwise, the right side
Step 3.7 if the inner side is the left side, the control issued to the 4 straight-moving motors and the 4 steering wheels is
| Left front steering engine | Left rear steering engine | Right front steering engine | Right rear steering engine |
| th_i | -th_i | th_o | -th_o |
| Left front motor | Left rear motor | Right front motor | Right rear motor |
| rpm_inner | rpm_inner | rpm_outer | rpm_outer |
The step 4 comprises the following steps:
step 4.1 defines cost values cost _ servo and cost _ wheel, which respectively represent the cost values required by the steering engine change and the wheel change.
And 4.2, for each steering engine and each motor, setting the steering engine control angle th _ i and the motor speed rpm _ i obtained in the step 3, and obtaining the current steering engine angle th _ c, the current motor speed and the current rpmc.
Step 4.3 calculates cost values p1_ cost and p2_ cost for both configurations
p1_cost＝fabs(th_i-th_c)*cost_servo+fabs(rpm_i-rpm_c)*cost_wheel；
p2_cost＝fabs((th_i+180)％180-th_c)*cost_servo+fabs(-rpm_i-rpm_c)*cost_wheel；
And 4.4, selecting the corresponding configuration with the minimum cost value from the p1_ cost and the p2_ cost, and outputting the configuration to the motor control.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A four-wheel omnidirectional chassis control method is characterized by comprising the following steps:
step S1: setting chassis parameters;
step S2: receiving the speed of the control chassis;
step S3: calculating the poses of the four steering engines and the speeds of the four straight-moving motors according to the speeds;
step S4: and reading the current position of the steering engine and the current speed of the straight-moving motor to calculate the cost configuration with the minimum cost, and outputting the position and the speed of the steering engine and the speed of the motor.
2. The four-wheel omnidirectional chassis control method according to claim 1, wherein in the step S1:
setting chassis parameters includes: the wheel diameter r of the straight wheel, the wheel track base _ x of the front wheel and the rear wheel, the wheel track base _ y of the left wheel and the right wheel, and the rotating speed servo _ w of the steering engine.
3. The four-wheel omnidirectional chassis control method according to claim 1, wherein in the step S3:
step S3.1: calculating the linear speed v _ b of the chassis:
v_b＝sqrt((x^2+y^2))
x is the linear velocity in the x direction, and y is the linear velocity in the y direction;
step S3.2, calculating the rotating radius turning _ r of the chassis:
turning_r＝v_b/w
w is the angular velocity;
under the command of speed v [ x, y, w ], the chassis takes o as a rotation center, turning _ r as a rotation radius and v _ b as running speed movement;
step S3.3: calculating the steering engine position th _ i and the inner side wheel rotating radius turning _ r _ inner of the inner side wheel:
th_i＝atan(y_track/2,turning_r-(x_wheel/2))
turning_r_inner＝sqrt((turning_r-x_wheel/2)^2+(y_track_/2)^2))
y _ track is the left and right wheel track, and x _ wheel is the front and rear wheel track;
s3.4, calculating the steering engine position th _ o and the rotating radius turning _ r _ outer of the outer wheel:
th_o＝atan(y_track_/2,turning_radius+(x_wheel_base_/2))
turning_r_outer＝sqrt((turning_r+x_wheel/2)^2+(y_track_/2)^2))
y _ track is the left and right wheel track, x _ wheel _ base is the front and rear wheel track, turning _ radius is the rotation radius;
step S3.5: calculating the inner wheel straight-moving motor speed rpm _ inner and the outer wheel straight-moving motor speed rpm _ outer:
rpm_inner＝w*turning_r_inner
rpm_outer＝w*turning_r_outer
step S3.6: determining the medial direction
If v _ b w >0, the inner side is the left side, and if v _ b w is less than or equal to 0, the inner side is the right side;
and S3.7, if the inner side is the left side, the control issued to the 4 straight-moving motors and the 4 steering wheels is as follows:
left front steering engine: th _ i
Left rear steering engine: -th _ i
Right front steering wheel: th _ o
Right rear steering engine: -th _ o
Left front motor: rpm _ inner
Left rear motor: rpm _ inner
A front right motor: rpm _ outer
A right rear motor: rpm _ outer
If the inner side is the right side, the control issued to the 4 straight-moving motors and the 4 steering wheels is as follows:
rotation angle of the left front steering engine: th _ o
Rotation angle of the left rear steering engine: -th _ o
Rotation angle of the right front steering engine: th _ i
Rotation angle of the right rear steering engine: -th _ i
Left front motor speed: rpm _ outer
Left rear motor speed: rpm _ outer
Right front motor speed rpm _ inner
The rotating speed of a rear right motor is as follows: rpm _ inner
4. A four-wheel omnidirectional chassis control method according to claim 1, wherein in the step S4:
reading current _ servo _1, current _ servo _2, current _ servo _3, current _ servo _4 and the current _ wheel _4 of the current speed of 4 linear motors at the current positions of the four steering engines to current _ wheel _1, current _ wheel _2, current _ wheel _3 and current _ wheel _4, and obtaining data through chassis feedback; and calculating the cost configurations of target _ servo and target _ wheel with the minimum cost according to a cost calculation formula, and outputting the position and the speed of the steering engine and the motor.
5. The four-wheel omnidirectional chassis control method according to claim 4, wherein:
step S4.1: defining cost values cost _ servo and cost _ wheel, wherein the cost _ servo represents the cost value required by the change of the steering engine, and the cost _ wheel represents the cost value required by the change of the wheel;
step S4.2: for each steering engine and each motor, setting a steering engine angle th _ i and a motor speed rpm _ i, and acquiring a current steering engine angle th _ c and a current motor speed and rpm _ c;
step S4.3: cost values p1_ cost and p2_ cost for both configurations are calculated
p1_cost＝fabs(th_i-th_c)*cost_servo+fabs(rpm_i-rpm_c)*cost_wheel
p2_cost＝fabs((th_i+180)％180-th_c)*cost_servo+fabs(-rpm_i-rpm_c)*cost_wheel
Step S4.4: and the corresponding configuration with the smallest cost value is selected from the p1_ cost and the p2_ cost and is output to the motor control.
6. A four-wheel omni-directional chassis control system, comprising:
module M1: setting chassis parameters;
module M2: receiving the speed of the control chassis;
module M3: calculating the poses of the four steering engines and the speeds of the four straight-moving motors according to the speeds;
module M4: and reading the current position of the steering engine and the current speed of the straight-moving motor to calculate the cost configuration with the minimum cost, and outputting the position and the speed of the steering engine and the speed of the motor.
7. A four-wheel omnidirectional chassis control system according to claim 6, wherein in the module M1:
setting chassis parameters includes: the wheel diameter r of the straight wheel, the wheel track base _ x of the front wheel and the rear wheel, the wheel track base _ y of the left wheel and the right wheel, and the rotating speed servo _ w of the steering engine.
8. A four-wheel omnidirectional chassis control system according to claim 6, wherein in the module M3:
module M3.1: calculating the linear speed v _ b of the chassis:
v_b＝sqrt((x^2+y^2))
x is the linear velocity in the x direction, and y is the linear velocity in the y direction;
module M3.2 calculates the chassis rotation radius turning _ r:
turning_r＝v_b/w
w is the angular velocity;
under the command of speed v [ x, y, w ], the chassis takes o as a rotation center, turning _ r as a rotation radius and v _ b as running speed movement;
module M3.3: calculating the steering engine position th _ i and the inner side wheel rotating radius turning _ r _ inner of the inner side wheel:
th_i＝atan(y_track/2,turning_r-(x_wheel/2))
turning_r_inner＝sqrt((turning_r-x_wheel/2)^2+(y_track_/2)^2))
y _ track is the left and right wheel track, and x _ wheel is the front and rear wheel track;
and a module M3.4, calculating the steering engine position th _ o and the rotating radius turning _ r _ outer of the outer wheel:
th_o＝atan(y_track_/2,turning_radius+(x_wheel_base_/2))
turning_r_outer＝sqrt((turning_r+x_wheel/2)^2+(y_track_/2)^2))
y _ track is the left and right wheel track, x _ wheel _ base is the front and rear wheel track, turning _ radius is the rotation radius;
module M3.5: calculating the inner wheel straight-moving motor speed rpm _ inner and the outer wheel straight-moving motor speed rpm _ outer:
rpm_inner＝w*turning_r_inner
rpm_outer＝w*turning_r_outer
module M3.6: determining medial direction
If v _ b w >0, the inner side is the left side, and if v _ b w is less than or equal to 0, the inner side is the right side;
if the inner side of the module M3.7 is the left side, the control issued to the 4 direct motors and the 4 steering wheels is as follows:
left front steering engine: th _ i
Left rear steering engine: -th _ i
Right front steering wheel: th _ o
Right rear steering engine: -th _ o
Left front motor: rpm _ inner
Left rear motor: rpm _ inner
A front right motor: rpm _ outer
A right rear motor: rpm _ outer
If the inner side is the right side, the control issued to the 4 straight-moving motors and the 4 steering wheels is as follows:
rotation angle of the left front steering engine: th _ o
Rotation angle of the left rear steering engine: -th _ o
Rotation angle of the right front steering engine: th _ i
Rotation angle of the right rear steering engine: -th _ i
Left front motor speed: rpm _ outer
Left rear motor speed: rpm _ outer
Right front motor speed rpm _ inner
The rotating speed of a rear right motor is as follows: rpm _ inner
9. A four-wheel omnidirectional chassis control system according to claim 6, wherein in the module M4:
reading current _ servo _1, current _ servo _2, current _ servo _3, current _ servo _4 and the current _ wheel _4 of the current speed of 4 linear motors at the current positions of the four steering engines to current _ wheel _1, current _ wheel _2, current _ wheel _3 and current _ wheel _4, and obtaining data through chassis feedback; and calculating the cost configurations of target _ servo and target _ wheel with the minimum cost according to a cost calculation formula, and outputting the position and the speed of the steering engine and the motor.
10. A four-wheel omnidirectional chassis control system according to claim 9, wherein:
module M4.1: defining cost values cost _ servo and cost _ wheel, wherein the cost _ servo represents the cost value required by the change of the steering engine, and the cost _ wheel represents the cost value required by the change of the wheel;
module M4.2: for each steering engine and each motor, setting a steering engine angle th _ i and a motor speed rpm _ i, and acquiring a current steering engine angle th _ c and a current motor speed and rpm _ c;
module M4.3: cost values p1_ cost and p2_ cost for both configurations are calculated
p1_cost＝fabs(th_i-th_c)*cost_servo+fabs(rpm_i-rpm_c)*cost_wheel
p2_cost＝fabs((th_i+180)％180-th_c)*cost_servo+fabs(-rpm_i-rpm_c)*cost_wheel
Module M4.4: and the corresponding configuration with the smallest cost value is selected from the p1_ cost and the p2_ cost and is output to the motor control.
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| CN116176583A (en) * | 2022-12-08 | 2023-05-30 | 深圳市先发智能有限公司 | Four-wheel chassis control method, device, medium and computer equipment |
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| CN116176583A (en) * | 2022-12-08 | 2023-05-30 | 深圳市先发智能有限公司 | Four-wheel chassis control method, device, medium and computer equipment |
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