The invention discloses a distributed reconfigurable drive-by-wire chassis and a motion control system thereof, relates to the technical field of unmanned vehicle walking control, and solves the technical problems that self-adaptive adjustment cannot be carried out in combination with actual conditions, walking deviation occurs in the walking process, and the overall control result is affected. According to the method, whether the walking deviation exists or not is judged by comparing the actual walking parameters of the unmanned vehicle with the instruction parameters input by the user, the running speed and the running direction are further analyzed for the situation that the walking deviation exists, comprehensive adjustment is carried out in combination with the situation of the walking road surface in the analysis process, and therefore the accuracy of the walking deviation is improved. On one hand, walking control can be completed under the condition that instructions are executed, on the other hand, corresponding parameter regulation and control are carried out in combination with actual requirements, the overall walking stability is improved, regulation and control of the walking speed and the walking direction are achieved, and the overall control effect is optimized.
本发明公开了分布式可重构线控底盘及其运动控制系统,本发明涉及无人车辆行走控制技术领域,解决了不能结合实际情况进行自适应调节,在行走过程中会出现行走偏差,给整体控制结果造成影响的技术问题,本发明通过将无人车辆实际行走参数与用户输入指令参数进行比较来判断是否存在行走偏差的问题,进一步的针对存在行走偏差的情况,通过对行驶速度和行走方向进行分别分析,在分析的过程中结合行走路面的情况进行综合调节,一方面能够在执行指令的情况下完成行走控制,另一方面结合实际需求进行对应的参数调控,提高整体行走的稳定,实现对行走速度和行走方向的调控,优化整体控制效果。
Distributed reconfigurable drive-by-wire chassis and motion control system thereof
分布式可重构线控底盘及其运动控制系统
2024-12-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / 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 |
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