The invention discloses a linear driving control method and device for a drive-by-wire crawler chassis, belongs to the technical field of engineering machinery, and aims to solve the technical problems that in the prior art, when an existing double-side independent drive crawler drive-by-wire chassis runs linearly, due to the factors such as the vehicle condition or the road condition and the like, the drive-by-wire chassis runs linearly; and the control and movement of the left and right side driving systems are difficult to keep synchronous, so that deviation is caused. The method comprises the steps that the rotating speed of a left track driving wheel and the rotating speed of a right track driving wheel are controlled to be initial values, the actual rotating speed of the left track driving wheel and the actual rotating speed of the right track driving wheel are continuously collected, and the accumulated displacement difference at the current moment is calculated; the speed of the left and right driving wheels is adjusted to eliminate the displacement difference according to the accumulated displacement difference value of the left and right crawler belts, the applicability in different environments and the movement stability in the control process are improved, and the problem of deviation caused by the fact that control and movement of the left and right driving systems of the crawler chassis are difficult to keep synchronous due to vehicle conditions and road conditions is solved.
本发明公开了工程机械技术领域的一种线控履带底盘直线行驶控制方法及装置,旨在解决现有技术中现有的双侧独立驱动履带线控底盘在直线行驶时,由于车况或路况等因素,左右侧驱动系统的控制和运动难以保持同步而引起跑偏的问题。其包括控制左侧履带驱动轮转速和右侧履带驱动轮转速均为初始值,持续采集左侧履带驱动轮实际转速和右侧履带驱动轮实际转速,并计算当前时刻的累计位移差;本发明根据左右侧履带行驶累计位移差值,调节左右侧驱动轮速度以消除位移差,提高在不同环境下的适用性和控制过程中运动平稳性,解决由于车况和路况,履带底盘左右侧驱动系统的控制和运动难以保持同步而引起的跑偏问题。
Linear driving control method and device for drive-by-wire crawler chassis
一种线控履带底盘直线行驶控制方法及装置
2024-10-15
Patent
Electronic Resource
Chinese
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