Parameter tuning method for steering control of Ackermann-like steering mechanism
A steering mechanism and steering control technology, which is applied to steering mechanisms, automatic steering control components, steering rods, etc., can solve the problems of large measurement data and low fitting degree of the relationship with the actual function, and achieve large measurement data, small errors, Resolve poor fit effects
Active Publication Date: 2021-11-23
江苏贝叶斯机器人有限公司
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Problems solved by technology
[0004] In view of the above problems, the present invention provides a parameter setting method for the steering control of an Ackermann steering mechanism, which has the advantages of small error and large amount of measurement data, and solves the problem of low fitting degree of the relationship between experimental parameters and actual functions
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[0022] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, so as to define the protection scope of the present invention more clearly.
[0023] The intelligent car steering system of the present embodiment is as figure 1 as shown,
[0024] The angle data of the car is sampled through the gyroscope sensor;
[0025] Among them, the rotation of the two driving wheels of the trolley is controlled by two DC motors;
[0026] The steering angle of the steering wheel is controlled by the servo steering gear;
[0027] Among them, the instruction is received by the motor driver, the motor speed is controlled by the PID algorithm, and the speed of the trolley is controlled;
[0028] Wherein the controller realizes the parameter setting method of the present invention by collecting the ang...
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The invention relates to a parameter setting method for steering control of an Ackerman-like steering mechanism. ; After the angular velocity becomes stable, compare it with the previously set angular velocity of the trolley; Repeat the above two steps until the set angular velocity of the trolley is equal to the angular velocity of the trolley obtained by the test, and obtain the theoretical steering angle of the trolley at this time, which is considered to be determined at this time. A set of steering angle and steering gear rotation angle; modify the angular velocity set by the car, and repeat the above four steps to obtain a number of corresponding steering angle and steering gear rotation angle data; use the data obtained from the test to perform linear regression fitting to obtain the current value of the car The functional relationship between the motion steering angle and the steering angle of the steering gear. The invention has the advantages of small error and wide adaptability, and solves the problem that the steering parameters are difficult to determine due to the mechanical structure.
Description
Technical field: [0001] The invention relates to the technical field of vehicle control, in particular to a parameter setting method for steering control of an Ackermann steering mechanism. Background technique: [0002] In order to reduce the error of the encoder during the automatic navigation of the smart car, the slippage between the wheels and the ground should be minimized. On the other hand, smart cars with car-like chassis are subjected to more complicated forces when turning. Part of the steering traction is provided by the front wheels. To prevent the wheels from slipping, it is necessary to control the steering angle of the front wheels reasonably according to the vehicle speed and turning radius. The steering control scheme of the car-like chassis usually uses a steering gear and a series of linkages, and there is a conversion relationship between the wheel steering angle and the steering gear steering angle. However, due to the design accuracy of the steering m...
Claims
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IPC IPC(8): B62D6/00B62D101/00B62D113/00
CPCB62D6/00
Inventor 董超舒庆王心源
Owner 江苏贝叶斯机器人有限公司