The invention discloses a walking anti-shake and deviation correction control method for a loading machine. The method comprises the steps that vehicle body posture data are obtained; inputting the vehicle body attitude data into a vehicle control unit for driving algorithm processing to obtain a vehicle body deviation value; the vehicle control unit inputs a corresponding motor controller according to the obtained vehicle body deviation value, and the motor controller adjusts a corresponding walking motor according to the received vehicle body deviation value; wherein the vehicle body deviation comprises a whole vehicle up-down shaking state, a whole vehicle right shaking state, a whole vehicle left shaking state, vehicle body leftward deviation, vehicle body rightward deviation and steering deviation; the invention further discloses a walking anti-shaking and deviation rectifying control system of the loading machine. The motor controller adjusts the corresponding walking motor according to the received vehicle body deviation value so that walking vehicle body deviation and shaking caused by wheel abrasion can be remarkably reduced, meanwhile, due to the fact that an anti-shaking and deviation correction control strategy is added, the vehicle using comfort of a driver is greatly improved, and the fatigue of the driver is reduced.

    本发明公开了一种装载机的行走防抖及纠偏控制方法,所述方法包括:获取车身姿态数据;将车身姿态数据输入整车控制器进行驱动算法处理,得到车身偏移值;整车控制器根据得到的车身偏移值输入对应的电机控制器,电机控制器根据接收的车身偏移值调整对应的行走电机;其中,车身偏移包括整车上下抖动状态、整车右抖动状态、整车左抖动状态、车身向左侧偏移、车身向右侧偏移和转向偏移;还公开一种装载机的行走防抖及纠偏控制系统。电机控制器根据接收的车身偏移值调整对应的行走电机可以显著降低车轮磨损导致的行走车身偏移与抖动,同时防抖与纠偏控制策略的加入,大大改善了司机的用车舒适性,降低司机的疲劳度。


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    Title :

    Walking anti-shake and deviation correction control method and system of loading machine


    Additional title:

    一种装载机的行走防抖及纠偏控制方法及系统


    Contributors:
    YANG XINGUANG (author) / DONG WENWEN (author) / ZHANG TAIRAN (author) / ZHANG NING (author) / LIU YANG (author) / ZHANG QINGZHENG (author) / LI ZHONGYU (author) / ZENG XUNNAN (author)

    Publication date :

    2023-08-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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