The invention discloses an agricultural machine chassis, a differential steering control method and device thereof and a medium, the agricultural machine chassis comprises a front track, a left rear wheel and a right rear wheel which are independently driven, and the differential steering control method comprises the steps that the target rotating speeds of the left rear wheel and the right rear wheel are determined, and the target differential speeds of the rear wheels are correspondingly calculated; based on the rear wheel target differential speed, driving torque is distributed to the front caterpillar band, the left rear wheel and the right rear wheel so as to control steering of the whole vehicle; and in the whole vehicle steering process, the real-time differential speed of the rear wheels is obtained, and when the real-time differential speed of the rear wheels exceeds a preset slip differential speed threshold value, the driving torque distributed to the front crawler belt is increased. According to the embodiment of the invention, through independent driving of the front crawler belt, the left rear wheel and the right rear wheel of the wheel-crawler combined type chassis, driving torques are distributed to the front crawler belt, the left rear wheel and the right rear wheel through the differential speed of the rear wheels so as to change the steering of the whole vehicle, a slipping escape strategy in steering is given, and the escape capacity of the vehicle is improved.
本申请公开了一种农机底盘及其差速转向控制方法、装置和介质,所述农机底盘包括各自被独立驱动的前履带、左后轮和右后轮,且所述差速转向控制方法包括:确定左后轮和右后轮各自的目标转速,并相应计算后轮目标差速,且基于所述后轮目标差速向前履带、左后轮和右后轮分配驱动扭矩以控制整车转向;以及在整车转向过程中,获取后轮实时差速,并在所述后轮实时差速超过预设的打滑差速阈值时,增加分配给所述前履带的驱动扭矩。本申请实施例通过对轮履复合式底盘的前履带和左、右后轮的独立驱动,实现了利用后轮差速来向前履带及左、右后轮各自分配驱动扭矩以改变整车转向,且给出了转向中的打滑脱困策略,提升了车辆脱困能力。
Agricultural machine chassis, differential steering control method and device thereof and medium
农机底盘及其差速转向控制方法、装置和介质
19.01.2024
Patent
Elektronische Ressource
Chinesisch
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