Motion state observation method and system based on distributed electric chassis
A motion state, distributed technology, applied in the field of information processing, can solve problems such as inability to observe quickly and accurately
Active Publication Date: 2021-08-13
JIHUA LAB
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[0004] The main purpose of the present invention is to provide a motion state observation method and system based on a distributed electric chassis, aiming to solve the problem that the existing motion state observer based on a distributed electric chassis cannot quickly and accurately detect different motion states when the drive fails. Technical Issues in Earth Observation
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[0081] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0082] An embodiment of the present invention provides a motion state observation method based on a distributed electric chassis, referring to figure 1 , figure 1 It is a schematic flowchart of the first embodiment of the motion state observation method based on the distributed electric chassis of the present invention.
[0083] In this embodiment, the motion state observation method based on the distributed electric chassis includes the following steps:
[0084] Step S10: Constructing the whole machine observation model corresponding to the whole machine motion state observation layer and the driving observation model corresponding to the driving state observation layer in the motion state observer based on the distributed electric chassis;
[0085] It should be noted that before establishing the whole machine obse...
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The invention relates to the technical field of information processing, and discloses a motion state observation method and system based on a distributed electric chassis. According to the invention, aiming at the motion state observation of the distributed electric chassis under the driving fault, a dual-structure multi-fading factor strong tracking motion state observer is designed; wherein a driving state observation layer and a complete machine motion state observation layer are respectively designed based on a strong tracking filter of multiple fading factors, and different time-varying fading factors are respectively introduced for each driving state and each complete machine motion state; besides, strong tracking of the states of the two observation layers and data interaction between the two observation layers are combined, so that the different motion states can be quickly and accurately tracked under the driving fault. Furthermore, in order to avoid the influence of positive qualitative damage caused by introduction of multiple fading factors on the motion state observation precision, positive definite parameters are introduced into the two observation layers respectively to improve the two observation layers, so that the accuracy of motion state observation under the driving fault is further ensured.
Description
technical field [0001] The invention relates to the technical field of information processing, in particular to a motion state observation method and system based on a distributed electric chassis. Background technique [0002] Distributed electric chassis has four-wheel independent drive, braking and steering functions, and more flexible and comfortable dynamics and kinematics control can be achieved through reasonable control means (among them, distributed electric chassis driven by hub motors is widely used It is used in various industries, such as distributed electric vehicles, distributed electric wheelchairs, etc.), which also provides an ideal carrier for the intelligence and convenience of related products. Accurate acquisition of chassis motion state information is an important technical basis for its intelligent and dynamic control. However, it is difficult to obtain accurate motion state signals directly through hardware sensors, and a motion state observer needs ...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张冰王心醉梁岳青李鹏飞李希华李兆波蔡后勇辛海兵
Owner JIHUA LAB