The invention discloses a control method and equipment of a movable platform, the movable platform and a storage medium. The method comprises: acquiring a user instruction for controlling the mobile platform (S501); according to the user instruction, determining an input control quantity for controlling the movement of the movable platform (S502); when it is determined that the power system is tobe in a power saturation state directly based on the input control quantity, re-determining a target control quantity for controlling the movable platform to move according to the input control quantity, the power system being in a power unsaturated state directly based on the target control quantity (S503); and controlling the movable platform to move according to the target control quantity (S504). And the problem that the movable platform cannot keep stable motion due to power saturation of the power system can be effectively avoided.

    一种可移动平台的控制方法、设备、可移动平台及存储介质。所述方法包括:获取用于控制所述可移动平台的用户指令(S501);根据所述用户指令,确定用于控制所述可移动平台运动的输入控制量(S502);当确定所述动力系统直接基于所述输入控制量执行将处于动力饱和状态时,根据所述输入控制量,重新确定用于控制该可移动平台运动的目标控制量,其中,所述动力系统直接基于所述目标控制量执行将处于动力非饱和状态(S503);根据所述目标控制量,控制所述可移动平台运动(S504)。可有效避免该动力系统由于动力饱和而导致可移动平台无法保持稳定运动的问题。


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    Title :

    Control method and equipment of movable platform, movable platform and storage medium


    Additional title:

    可移动平台的控制方法、设备、可移动平台及存储介质


    Contributors:
    ZHOU CHANGXING (author) / GONG DING (author) / CHEN CHAOBIN (author)

    Publication date :

    2020-09-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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