The invention discloses an amphibious vehicle escape control method and system and a storage medium, which are applied to the technical field of amphibious equipment and can improve the trafficability of an amphibious vehicle when tires are trapped and realize the effect of stably and quickly escaping the amphibious vehicle. The method comprises the following steps: acquiring first motion data of the amphibious vehicle; calculating a wheel slip rate according to the first motion data, and fuzzifying the wheel slip rate to obtain slip rate fuzzy data; acquiring second motion data of the amphibious vehicle; calculating a wheel vertical load according to the second motion data; calculating a load deviation value according to the vertical load of the wheel, and fuzzifying to obtain load deviation fuzzy data; the wheel suspension rate of the amphibious vehicle is obtained and fuzzified to obtain suspension rate fuzzy data; according to the slip rate fuzzy data, the load deviation fuzzy data and the suspension rate fuzzy data, determining a wheel sinking state through fuzzy identification; and performing preset control adjustment on the amphibious vehicle through a preset fuzzy control rule according to the wheel sinking state.
本发明公开一种水陆两栖车脱困控制方法、系统及存储介质,应用于水陆两栖装备技术领域,能够提升水陆两栖车在轮胎陷入时的通过能力,实现水陆两栖车平稳快速地脱困效果。该方法包括:获取水陆两栖车的第一运动数据;根据第一运动数据计算车轮滑转率,并模糊化得到滑转率模糊数据;获取水陆两栖车的第二运动数据;根据第二运动数据计算车轮垂向载荷;根据车轮垂向载荷计算载荷偏差量,并模糊化得到载荷偏差模糊数据;获取水陆两栖车的车轮悬空率,并模糊化得到悬空率模糊数据;根据滑转率模糊数据、载荷偏差模糊数据以及悬空率模糊数据通过模糊化识别确定车轮陷入状态;根据车轮陷入状态通过预设模糊控制规则对水陆两栖车进行预设控制调节。
Amphibious vehicle escape control method and system and storage medium
水陆两栖车脱困控制方法、系统及存储介质
2023-08-08
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen |
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