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Multi-vehicle multi-task cooperative control system

A collaborative control and multi-task technology, applied in the field of control systems, can solve the problems of single steering mode, inability to use, and inability to achieve lateral movement, achieving the effect of flexible steering function and reducing the requirements of the use site

Active Publication Date: 2010-06-02
HUBEI SANJIANG SPACE WANSHAN SPECIAL VEHICLE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 1. The existing scheme using mechanical pull rods has a single steering mode, which cannot realize multi-mode steering functions such as horizontal travel, oblique travel, and in-situ rotation, and cannot be used in smaller venues. Larger venues are often required to adjust the orientation when transferring large structural parts , lower work efficiency

Method used

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Embodiment Construction

[0037] First, refer to figure 1 The composition and communication schematic diagram of the control system of the present invention are shown, and the hardware equipment of the multi-vehicle multi-task system control system provided by the present invention is selected. In order to meet the use requirements under harsh conditions, we selected the RC6-9 controller with high protection level from Bosch Rexroth as the main controller of the entire control system; due to the large number of input and output ports, we also selected the RC6-9 controller with high reliability The expansion module RCE12-4 controller from Bosch Rexroth Company of Germany; the angle calculation needs to take up a lot of system resources. In order to ensure stability, we chose the 2038 controller with floating point operation function of Finland EPEC company to deal with the angle calculation.

[0038] Next, the communication network of the present invention is constructed: we adopt the CANBUS communicati...

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Abstract

The invention relates to a control system used for self-propelled module transporters, and discloses a multi-vehicle multi-task cooperative control system, which comprises a power control unit, module transport vehicles and a module vehicle control unit, wherein the module transport vehicles are in mechanical hard-wired connection with each other front and back; the power control unit is connected with the first module transport vehicle and is also connected with an electronic control unit ECU of an engine; the module vehicle control unit is connected with a terminal executing mechanism of each module transport vehicle; the power control unit is connected with the module vehicle control unit; and the power control unit acquires an operational command and output data of the electronic control unit ECU of the engine and transmits the operational command and the output data to the module vehicle control unit so as to control the terminal executing mechanism of each module transport vehicle to execute corresponding operation. The multi-vehicle multi-task cooperative control system has the characteristics of adopting the module vehicle control unit to receive the operational command and to control the terminal executing mechanism of each module vehicle to execute the corresponding operation so as to realize the functions of cooperatively controlling steering, running and lifting and the like of each module transporter after splicing.

Description

technical field [0001] The invention relates to a control system, which is mainly applied to a self-propelled module transport vehicle. Background technique [0002] At present, hydraulic steering driven trucks are widely used in shipbuilding and logistics fields. Due to the special use environment, such vehicles are required to have flexible multi-mode steering, driving and lifting operation functions. Among them, in order to realize the multi-mode steering function, the vehicle must have a fully hydraulic independent steering structure. When the vehicle is turning, it is necessary to control the speed and angle of each steering wheel. Most of the existing technologies are aimed at the steering coordination in this single vehicle situation. control. In the prior art, the steering under the bicycle situation is to use a mechanical pull rod to pull the steering shaft to rotate. Self-propelled modular transport vehicles require that each transport vehicle can be spliced ​​l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W10/20B60W10/06B60W30/10G05D1/02
Inventor 何适王力波方雷徐代友周跃良
Owner HUBEI SANJIANG SPACE WANSHAN SPECIAL VEHICLE
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