The invention provides a walking wheel synchronous control method of a large-span mobile platform, a PLC and electronic equipment, and the method comprises the steps: determining two active walking wheels as position synchronous wheels, enabling the first position synchronous wheel to be located at the first side of the large-span mobile platform, and enabling the second position synchronous wheel to be located at the second side of the large-span mobile platform; the second position synchronizing wheel is located on the second side of the large-span moving platform. The two position synchronizing wheels are subjected to walking position synchronization through the controller, so that the position deviation of the two position synchronizing wheels in the first direction is kept within a preset tolerance range; the driving motors of the other driving walking wheels on the first side are synchronous with the driving motor of the first position synchronizing wheel in torque, and the driving motors of the other driving walking wheels on the second side are synchronous with the driving motor of the second position synchronizing wheel in torque. According to the scheme, control over the walking posture of the large-span moving platform is achieved, and the position deviation of the two sides of the large-span moving platform in the walking process is kept within the allowable tolerance range.
本申请提供了一种大跨距移动平台的行走轮同步控制方法、PLC控制器以及电子设备,所述方法包括:将两个主动行走轮确定为位置同步轮,其中第一位置同步轮位于所述大跨距移动平台的第一侧,第二位置同步轮位于所述大跨距移动平台的第二侧;通过控制器将两个位置同步轮做行走位置同步,以使两个位置同步轮的沿第一方向的位置偏差保持在预设的公差范围内;第一侧的其他主动行走轮的驱动电机与所述第一位置同步轮的驱动电机力矩同步,以及第二侧的其他主动行走轮的驱动电机与所述第二位置同步轮的驱动电机力矩同步。本申请的方案实现了对大跨距移动平台的行走姿态的控制,使其在行走过程中两侧的位置偏差保持在允许的公差范围内。
Traveling wheel synchronous control method of large-span mobile platform, PLC (Programmable Logic Controller) and electronic equipment
大跨距移动平台的行走轮同步控制方法、PLC控制器以及电子设备
2024-07-02
Patent
Electronic Resource
Chinese
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