CN117087643A - Differential rudder control method and control system - Google Patents
Differential rudder control method and control system Download PDFInfo
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- CN117087643A CN117087643A CN202311084465.5A CN202311084465A CN117087643A CN 117087643 A CN117087643 A CN 117087643A CN 202311084465 A CN202311084465 A CN 202311084465A CN 117087643 A CN117087643 A CN 117087643A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000000354 decomposition reaction Methods 0.000 claims abstract description 46
- 238000013459 approach Methods 0.000 claims abstract description 10
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000004075 alteration Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
Abstract
The invention provides a differential rudder control method and a control system, wherein the control method comprises the following steps: step 1, collecting the current angle of a differential rudder; step 2, calculating a deviation value between the current angle and the target angle of the differential rudder, and if the deviation value exceeds a set threshold value, performing motion decomposition on left and right wheels of the differential rudder based on the deviation value to obtain a motion decomposition result; step 3, controlling the motor to run through a driver based on a motion decomposition result, generating friction force with the ground, and changing the current angle of the differential rudder; and 4, repeatedly executing the steps 1 to 3, so that the current angle of the differential approaches the target angle. The invention adopts the differential rudder to replace steering wheels on a heavy-duty vehicle body and a vehicle body with higher ground requirements, and adopts a new control mode to control the motor speeds of the left wheel and the right wheel of the differential rudder through motion decomposition, thereby simulating the control mode of the steering wheels and realizing the control of the angle of the differential rudder.
Description
Technical Field
The invention relates to the field of vehicle body control, in particular to a differential rudder control method and a differential rudder control system.
Background
The differential rudder and the steering wheel are driving mechanisms of the vehicle body, and the steering wheel has the characteristics of high response speed, high precision and the like, so that the steering wheel becomes a common driving structure on the AGV, but the steering wheel has the following two defects:
(1) The height of the body is higher than that of the differential rudder, and the installation requirement cannot be met on AGV trolleys with requirements on the height of the chassis of the body;
(2) When the steering wheel rotates in situ, the steering motor drives the steering wheel to rub against the ground, so that the steering wheel can steer in situ. However, this approach is more damaging to the friction of the drive wheel and is also noisy.
Disclosure of Invention
The invention provides a differential rudder control method and a differential rudder control system aiming at the technical problems in the prior art.
According to a first aspect of the present invention, there is provided a differential rudder control method including:
step 1, collecting the current angle of a differential rudder;
step 2, calculating a deviation value between the current angle and the target angle of the differential rudder, and if the deviation value exceeds a set threshold value, performing motion decomposition on left and right wheels of the differential rudder based on the deviation value to obtain a motion decomposition result;
step 3, controlling the motor to run through a driver based on a motion decomposition result, generating friction force with the ground, and changing the current angle of the differential rudder;
and 4, repeatedly executing the steps 1 to 3, so that the current angle of the differential approaches the target angle.
On the basis of the technical scheme, the invention can also make the following improvements.
Optionally, the step 1, collecting the current angle of the differential rudder includes:
and installing a steering sensor on the differential rudder, and detecting the current angle of the differential rudder in real time based on the steering sensor.
Optionally, in the step 2, motion decomposition is performed on the left and right wheels of the differential rudder based on the deviation value to obtain a motion decomposition result, including:
performing motion decomposition on left and right wheels of the differential rudder based on the deviation value to obtain the left wheel speed and the right wheel speed of the differential rudder;
and 3, controlling the motor to run through the driver based on the motion decomposition result, generating friction force with the ground, and changing the current angle of the differential rudder, wherein the method comprises the following steps of:
the speed of the left wheel and the speed of the right wheel of the differential rudder are issued to the driver, so that the driver controls the motor to drive the driving wheels to operate, and friction force is generated between the speed difference of the left wheel and the right wheel of the differential rudder and the ground according to the speed difference of the left wheel and the right wheel of the differential rudder, so that the current angle of the differential rudder is changed.
Optionally, the performing motion decomposition on the left and right wheels of the differential rudder based on the deviation value to obtain the left wheel speed and the right wheel speed of the differential rudder includes:
and according to the deviation value between the current angle and the target angle of the differential rudder, the set rotation deviation correcting speed V_e and the set operation reference speed V_Command, performing motion decomposition on the left and right wheels of the differential rudder to obtain the speed of the left wheel of the differential rudder, the speed of the right wheel of the differential rudder and the rotation speed value of the differential rudder.
Optionally, the calculation formula of the differential rudder rotation speed value is:
wherein V is rotate A is the value of the rotation speed of the differential rudder target For the target angle of the rudder, A current And V_e is the set rotation deviation rectifying angle of the differential rudder for the current angle of the differential rudder.
Optionally, the speed of the left and right rudder is calculated from the direction of vehicle body operation based on the reference speed v_command of the rudder and the value of the rotational speed of the rudder.
Optionally, the calculating the speed of the left wheel and the speed of the right wheel of the differential according to the running direction of the vehicle body based on the running reference speed v_command of the differential and the rotation speed value of the differential comprises:
when the vehicle body moves forward, if A_target > A_current
V l ＝-V command -V rotate *-1；
V r ＝-V command +V rotate *-1；
If a_target < = a_current, then
V l ＝-V command +V rotate *-1；
V r ＝-V command -V rotate *-1；
Wherein V is l For the speed of the left wheel of the differential rudder, V r Is the speed of the right wheel of the differential rudder.
Optionally, the calculating the speed of the left wheel and the speed of the right wheel of the differential according to the running direction of the vehicle body based on the running reference speed v_command of the differential and the rotation speed value of the differential comprises:
when the vehicle body moves reversely, if A_target > A_current
V l ＝V command +V rotate ；
V r ＝V command -V rotate ；
When a_target < = a_current, then
V l ＝V command -V rotate ；
V r ＝V command +V rotate ；
Wherein V is l For the speed of the left wheel of the differential rudder, V r Is the speed of the right wheel of the differential rudder.
According to a second aspect of the present invention, there is provided a differential rudder control system including:
the acquisition module is used for acquiring the current angle of the differential rudder;
the motion decomposition module is used for calculating a deviation value between the current angle and the target angle of the differential rudder, and if the deviation value exceeds a set threshold value, the motion decomposition is carried out on the left wheel and the right wheel of the differential rudder based on the deviation value, so that a motion decomposition result is obtained;
and the control module is used for controlling the motor to run through the driver based on the motion decomposition result, generating friction force with the ground, and changing the current angle of the differential rudder so that the current angle of the differential rudder approaches the target angle.
The differential rudder control method and the control system provided by the invention are characterized in that the differential rudder is adopted to replace steering wheels on a heavy-load vehicle body and a vehicle body with higher ground requirements, and a novel control mode is adopted to control the motor speeds of the left wheel and the right wheel of the differential rudder through motion decomposition, so that the control mode of the steering wheels is simulated, and the control of the angle of the differential rudder is realized.
Drawings
FIG. 1 is a flow chart of a method for controlling a differential rudder according to the present invention;
FIG. 2 is a graph showing the change in rotational speed values of the rudder;
FIG. 3 is an overall flow chart of a method of controlling a differential rudder;
fig. 4 is a schematic structural diagram of a differential rudder control system according to the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. In addition, the technical features of each embodiment or the single embodiment provided by the invention can be combined with each other at will to form a feasible technical scheme, and the combination is not limited by the sequence of steps and/or the structural composition mode, but is necessarily based on the fact that a person of ordinary skill in the art can realize the combination, and when the technical scheme is contradictory or can not realize, the combination of the technical scheme is not considered to exist and is not within the protection scope of the invention claimed.
Based on the problems in the background technology, on a heavy-duty car body and a car body with high requirements on the ground, a steering wheel is replaced by a differential rudder.
Fig. 1 is a flowchart of a method for controlling a differential rudder according to the present invention, as shown in fig. 1, the method includes:
and step 1, collecting the current angle of the differential rudder.
It will be appreciated that a sensor for detecting an angle, such as a steering sensor, may be mounted on the rudder, and the present example uses an encoder to output the current angle value a_current of the rudder in degrees.
And 2, calculating a deviation value between the current angle and the target angle of the differential rudder, and if the deviation value exceeds a set threshold value, performing motion decomposition on left and right wheels of the differential rudder based on the deviation value to obtain a motion decomposition result.
It can be understood that the execution result of the required differential rudder is calculated according to the deviation value of the AGV trolley, and the target angle A_target is acquired in real time, wherein the unit is the angle.
And calculating the deviation value of the target angle A_target and the current angle A_current of the differential rudder, and performing motion decomposition on the left wheel and the right wheel of the differential rudder based on the deviation value to obtain the speed of the left wheel and the speed of the right wheel of the differential rudder.
Calculating a deviation angle of the differential rudder, judging whether the deviation angle is within a set deviation correction threshold value A_s or not, and if not, entering a motion decomposition flow; if yes, the process is ended, and the subsequent control is not performed.
The motion decomposition is carried out on the left wheel and the right wheel of the differential rudder based on the deviation value to obtain the left wheel speed and the right wheel speed of the differential rudder, and the method comprises the following steps: and according to the deviation value between the current angle and the target angle of the differential rudder, the set rotation deviation correcting speed V_e and the set operation reference speed V_Command, performing motion decomposition on the left and right wheels of the differential rudder to obtain the speed of the left wheel of the differential rudder, the speed of the right wheel of the differential rudder and the rotation speed value of the differential rudder.
The calculation formula of the differential rudder rotation speed value is as follows:
wherein V is rotate Is the rotation speed of the differential rudderValue, A target For the target angle of the rudder, A current And V_e is the set rotation deviation rectifying angle of the differential rudder for the current angle of the differential rudder.
The rotation speed value v_rotation of the rudder is controlled according to a square root curve of the deviation value of the target angle and the current angle of the rudder, which is characterized in that the smaller the angle difference is, the controlled speed is linearly decreased until it becomes 0, and the graph is shown in fig. 2.
Then, based on the operation reference speed v_command of the rudder and the rudder rotational speed value, the rudder left wheel speed and the rudder right wheel speed are calculated according to the vehicle body operation direction.
Specifically, when the vehicle body moves forward, if A_target > A_current
V l ＝-V command -V rotate *-1；
V r ＝-V command +V rotate *-1；
If a_target < = a_current, then
V l ＝-V command +V rotate *-1；
V r ＝-V command -V rotate *-1；
Wherein V is l For the speed of the left wheel of the differential rudder, V r Is the speed of the right wheel of the differential rudder.
When the vehicle body moves reversely, if A_target > A_current
V l ＝V command +V rotate ；
V r ＝V command -V rotate ；
When a_target < = a_current, then
V l ＝V command -V rotate ；
V r ＝V command +V rotate ；
Wherein V is l For the speed of the left wheel of the differential rudder, V r Is the speed of the right wheel of the differential rudder.
And 3, controlling the motor to run through a driver based on a motion decomposition result, generating friction force with the ground, and changing the current angle of the differential rudder.
It can be understood that the left and right wheel speeds of the differential rudder are subjected to motion decomposition according to the deviation value of the target angle and the current angle of the differential rudder, and the left wheel speed and the right wheel speed of the differential rudder are issued to the driver based on the decomposed left and right wheel speeds of the differential rudder, so that the driver controls the motor to drive the driving wheel to operate, and friction force is generated with the ground according to the speed difference of the left and right wheels of the differential rudder, so that the current angle of the differential rudder is changed.
And 4, repeatedly executing the steps 1 to 3, so that the current angle of the differential approaches the target angle.
It can be understood that when the current angle of the differential rudder is changed by generating the ground friction force, the current angle of the differential rudder is collected again, and the control is repeatedly performed, so that the current angle of the differential rudder approaches the target angle as much as possible, and the control of the differential rudder is completed.
Referring to fig. 3, an overall flow chart of the differential rudder control method mainly includes the following steps:
firstly, collecting the current angle of a differential rudder and obtaining a target angle;
calculating a deviation value of the target angle and the current angle, and if the deviation value exceeds a set threshold value, performing motion decomposition according to the deviation value to obtain the left and right wheel speeds of the differential rudder;
based on the speed of the left wheel and the right wheel of the differential rudder, the friction force generated between the driving wheel and the ground is controlled, the current angle of the differential rudder is changed, and the control is repeated, so that the current angle of the differential rudder approaches to the target angle, and the control of the differential rudder is completed.
Referring to fig. 4, a differential rudder control system provided by the invention includes an acquisition module 401, a motion decomposition module 402 and a control module 403, wherein:
the acquisition module 401 is used for acquiring the current angle of the differential rudder;
the motion decomposition module 402 is configured to calculate a deviation value between a current angle and a target angle of the differential rudder, and if the deviation value exceeds a set threshold value, perform motion decomposition on left and right wheels of the differential rudder based on the deviation value, so as to obtain a motion decomposition result;
the control module 403 is configured to control the motor to operate through the driver based on the motion decomposition result, generate friction with the ground, and change the current angle of the differential rudder so that the current angle of the differential rudder approaches the target angle.
It can be understood that the differential rudder control system provided by the present invention corresponds to the differential rudder control method provided by the foregoing embodiments, and the relevant technical features of the differential rudder control system may refer to the relevant technical features of the differential rudder control method, which are not described herein.
According to the differential rudder control method and the differential rudder control system, provided by the embodiment of the invention, on a heavy-load vehicle body and a vehicle body with higher ground requirements, the differential rudder is adopted to replace steering wheels, and a new control mode is adopted, and the motor speeds of the left wheel and the right wheel of the differential rudder are controlled through motion decomposition, so that the control mode of the steering wheels is simulated, and the control of the angle of the differential rudder is realized. The invention simulates the running of the steering wheel, controls the differential rudder, makes up the defects of the steering wheel, and simultaneously can give consideration to the advantages of the steering wheel, the cost of the differential rudder relative to the steering wheel is reduced greatly, and the scheme is favorable for reducing the overall cost.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. A differential rudder control method, characterized by comprising:
step 1, collecting the current angle of a differential rudder;
step 2, calculating a deviation value between the current angle and the target angle of the differential rudder, and if the deviation value exceeds a set threshold value, performing motion decomposition on left and right wheels of the differential rudder based on the deviation value to obtain a motion decomposition result;
step 3, controlling the motor to run through a driver based on a motion decomposition result, generating friction force with the ground, and changing the current angle of the differential rudder;
and 4, repeatedly executing the steps 1 to 3, so that the current angle of the differential approaches the target angle.
2. The method according to claim 1, wherein the step 1 of acquiring the current angle of the differential comprises:
and installing a steering sensor on the differential rudder, and detecting the current angle of the differential rudder in real time based on the steering sensor.
3. The method according to claim 1, wherein the step 2 of performing motion decomposition on the left and right wheels of the rudder based on the deviation value to obtain a motion decomposition result includes:
performing motion decomposition on left and right wheels of the differential rudder based on the deviation value to obtain the left wheel speed and the right wheel speed of the differential rudder;
and 3, controlling the motor to run through the driver based on the motion decomposition result, generating friction force with the ground, and changing the current angle of the differential rudder, wherein the method comprises the following steps of:
the speed of the left wheel and the speed of the right wheel of the differential rudder are issued to the driver, so that the driver controls the motor to drive the driving wheels to operate, and friction force is generated between the speed difference of the left wheel and the right wheel of the differential rudder and the ground according to the speed difference of the left wheel and the right wheel of the differential rudder, so that the current angle of the differential rudder is changed.
4. The method according to claim 3, wherein the performing motion decomposition on the left and right wheels of the differential based on the deviation value to obtain the left wheel speed and the right wheel speed of the differential comprises:
and according to the deviation value between the current angle and the target angle of the differential rudder, the set rotation deviation correcting speed V_e and the set operation reference speed V_Command, performing motion decomposition on the left and right wheels of the differential rudder to obtain the speed of the left wheel of the differential rudder, the speed of the right wheel of the differential rudder and the rotation speed value of the differential rudder.
5. The differential rudder control method according to claim 4, characterized in that the differential rudder rotation speed value has a calculation formula of:
wherein V is rotate A is the value of the rotation speed of the differential rudder target For the target angle of the rudder, A current And V_e is the set rotation deviation rectifying angle of the differential rudder for the current angle of the differential rudder.
6. The method according to claim 5, wherein the speed of the left and right rudder is calculated from the running direction of the vehicle body based on the running reference speed v_command of the rudder and the value of the rotational speed of the rudder.
7. The method according to claim 6, wherein calculating the speed of the left and right rudder wheels from the vehicle body running direction based on the running reference speed v_command of the rudder and the rotational speed value of the rudder, comprises:
if A_target > A_current when the vehicle body moves forward
V l ＝-V command -V rotate *-1；
V r ＝-V command +V rotate *-1；
If a_target < = a_current, then
V l ＝-V command +V rotate *-1；
V r ＝-V command -V rotate *-1；
Wherein V is l For the speed of the left wheel of the differential rudder, V r Is the speed of the right wheel of the differential rudder.
8. The method according to claim 6, wherein calculating the speed of the left and right rudder wheels from the vehicle body running direction based on the running reference speed v_command of the rudder and the rotational speed value of the rudder, comprises:
if A_target > A_current when the vehicle body moves reversely, then
V l ＝V command +V rotate ；
V r ＝V command -V rotate ；
When a_target < = a_current, then
V l ＝V command -V rotate ；
V r ＝V c0mmand +V rotate ；
Wherein V is l For the speed of the left wheel of the differential rudder, V r Is the speed of the right wheel of the differential rudder.
9. A differential rudder control system, characterized by comprising:
the acquisition module is used for acquiring the current angle of the differential rudder;
the motion decomposition module is used for calculating a deviation value between the current angle and the target angle of the differential rudder, and if the deviation value exceeds a set threshold value, the motion decomposition is carried out on the left wheel and the right wheel of the differential rudder based on the deviation value, so that a motion decomposition result is obtained;
and the control module is used for controlling the motor to run through the driver based on the motion decomposition result, generating friction force with the ground, and changing the current angle of the differential rudder so that the current angle of the differential rudder approaches the target angle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311084465.5A CN117087643A (en) | 2023-08-24 | 2023-08-24 | Differential rudder control method and control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311084465.5A CN117087643A (en) | 2023-08-24 | 2023-08-24 | Differential rudder control method and control system |
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| CN117087643A true CN117087643A (en) | 2023-11-21 |
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| CN202311084465.5A Pending CN117087643A (en) | 2023-08-24 | 2023-08-24 | Differential rudder control method and control system |
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| Country | Link |
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| CN (1) | CN117087643A (en) |
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2023
- 2023-08-24 CN CN202311084465.5A patent/CN117087643A/en active Pending
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