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, and achieve the effect of ensuring accuracy and accurate tracking
Active Publication Date: 2021-10-22
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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[0082] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0083] 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.
[0084] In this embodiment, the motion state observation method based on the distributed electric chassis includes the following steps:
[0085] 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;
[0086] 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. Aiming at the motion state observation of a distributed electric chassis under drive failure, a dual-structure multiple fading factor strong tracking is designed. The motion state observer, based on multiple fading factor strong tracking filters, respectively designs the driving state observation layer and the whole machine motion state observation layer, and introduces different time-varying fading factors for each driving state and the whole machine motion state , and combined with the strong tracking of the states of the two observation layers and the data interaction between the two observation layers, fast and accurate tracking of different motion states under drive faults is realized. In order to avoid the impact of the positive definiteness destruction caused by the introduction of multiple fading factors on the accuracy of motion state observation, positive definite parameters are respectively introduced into the two observation layers to improve it, so as to further ensure the accuracy of motion state observation under driving faults .
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