The invention discloses a method for controlling running of an overhead working truck, a processor and the overhead working truck, and belongs to the technical field of overhead working platforms. The method comprises the following steps: acquiring a target relative slip rate between driving wheels of the overhead working truck; determining the relative slip rate between the driving wheels through a pre-constructed steering and driving dynamical model; based on the target relative slip rate and the relative slip rate, determining a torque coordination percentage through a sliding mode differential control algorithm; and controlling the output torque of the driving wheel according to the torque coordination percentage so as to control the slip rate of the driving wheel in the driving process. The tire abrasion can be reduced, the stability of the overhead working truck is improved, and then the safety experience and the working efficiency of an operator are improved.
本申请公开了一种用于控制高空作业车行驶的方法、处理器及高空作业车,属于高空作业平台技术领域。该方法包括:获取高空作业车的各驱动轮之间的目标相对滑移率;通过预构建的转向行驶动力学模型确定各驱动轮之间的相对滑移率;基于目标相对滑移率和相对滑移率,通过滑模差速控制算法确定转矩协调百分比;按照转矩协调百分比控制驱动轮的输出转矩,以控制驱动轮在行驶过程的滑移率。本申请能减少轮胎磨损,提高高空作业车的稳定性,进而提升操作者的安全体验和作业效率。
Method for controlling running of overhead working truck, processor and overhead working truck
用于控制高空作业车行驶的方法、处理器及高空作业车
2024-04-05
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 / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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