Kinematics based patrol unit gear train coordinating and controlling method

Abstract

The invention relates to a kinematics based patrol unit gear train coordinating and controlling method. A patrol unit gear train includes two front wheels, two back wheels and two middle wheels, wherein the front wheels and the back wheels are steering wheels, and the six wheels are on the same plane or not on the same plane. The patrol unit gear train coordinating and controlling method includes the steps of 1), respectively calculating steering angles of the front wheels and the back wheels of the patrol unit gear train, namely specifically calculating the speed and location of the patrol unit gear train to enable the speed and location of the patrol unit gear train to be perpendicular with each other so as to obtain the steering angles; calculating and coordinating the speed of the six wheels in the patrol unit gear train. By the application of the patrol unit gear train coordinating and controlling method, a patrol unit can also assuredly reserve coordination of gear train movement to the greatest extent under the condition of non-planar terrain, negative effects against coordination of the whole unit due to the fact that steering angles are too large in errors during the coordinating the steering angles of the steering wheels are effectively lowered; the coordinating and controlling method is applicable to various complicated terrain, good in walking performance and highly practical.

Description

Technical field [0001] The invention relates to a kinematics-based coordinated control method for the wheel train of a patrol, which can be applied to the coordinated control of the wheel train of a roaming vehicle with a rocker arm suspension type chassis structure and adopting steering wheels for steering control. Background technique [0002] The task of coordinated control of the wheel system of the patrol is that according to the desired linear velocity and the desired yaw rate of the patrol, the desired turning angle of each steering wheel and the desired speed of the driving wheel are decomposed, and the desired turning angle speed of the steering wheel is given according to the current turning angle of the steering wheel. Realize the coordinated control of the driving wheel speed and the steering speed of the steering wheel. [0003] In order to achieve coordinated movement of moving vehicles when turning while moving, ideally, the steering wheels should have the same angul...

AI Technical Summary

Problems solved by technology

[0006] But for the cruiser, due to the existence of the rocker arm structure, the wheels will not always be maintained on the same plane. If the rotation angle distribution of the steering wheel is carried out according to the zero position of the rocker arm structure, when the rocker arm rotation angle changes with the terrain When a change occurs, there is no guarantee that the direction of motion of the steering wheel is still tangent to the steering direction. At this time, the steering wheel will slip, that is, the patrol is in a non-coordinated motion state, which brings uncertainty to the movement of the patrol

Images