An Algorithm for Judging Oversteering of a Wheel-Holding Tractor

Abstract

The invention discloses an algorithm for judging the over-steering of a wheel-holding tractor, which comprises a cab, a digital processing controller is arranged in the cab, and is characterized in that a laser scanning radar is installed above the rear of the cab, and the laser scanning radar is The CAN bus is connected with the digital processing controller. When the wheeled tractor picks up the aircraft, the laser scanning radar obtains the outline data of the aircraft, and the data is transmitted to the digital processing controller on the bus through the CAN bus, which greatly improves the traction of the wheel. When the vehicle is holding a towed aircraft, it performs intuitive and effective transition steering detection, which significantly reduces the computational complexity and hardware requirements, and reduces the probability of accidents caused by vehicle component failures or human misoperation, thereby improving production efficiency.

Description

technical field [0001] The invention relates to the technical field of vehicle control, in particular to an algorithm for judging oversteering of a wheel-holding tractor. Background technique [0002] At present, a torque sensor is installed on the contact surface between the general aircraft holding wheel tractor and the aircraft, and the steering data is obtained indirectly by measuring the data of the torque sensor. According to the relationship between the torque and the angle, the angle between the wheel-holding tractor and the aircraft is calculated, so as to issue an early warning signal. [0003] The disadvantages of this comparison technique are: [0004] 1. The torque sensor only indirectly measures the angle between the aircraft and the wheel-holding tractor through the torque, which is not direct enough. For applications that require high reliability, as the sensor’s service time increases, the sensor will age and the parameters will decrease. Change, so the me...

AI Technical Summary

Problems solved by technology

[0004] 1. The torque sensor only indirectly measures the angle between the aircraft and the wheel-holding tractor through the torque, which is not direct enough. For applications that require high reliability, as the sensor’s service time increases, the sensor will age and the parameters will decrease. changes, so that the measured angle value will not be too accurate

[0005] 2. The material of the sensor material is greatly affected by the temperature change, so the sensor parameters will change due to the different ambient temperature

[0006] 3. The accuracy of the torque sensor is generally not high, so it cannot accurately express the change of the angle

[0007] Due to the above-mentioned deficiencies in this measurement technology, it has high requirements for the operator of the vehicle, and there are false positives and false negatives when using it. Therefore, a more direct and visual method for measuring the angle between the wheel-holding tractor and the aircraft is needed. method

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