A method, device, equipment and storage medium for controlling pod heading angle locking

Abstract

The present application provides a pod heading angle locking control method, device, equipment and storage medium, which relate to the field of pod control technology. The method comprises obtaining the actual angle between the pod and the pod carrier, the actual angular velocity of the pod driven by the heading motor, and the steering angular velocity of the pod carrier; obtaining an angle error according to a preset locking angle and an actual angle between the pod and the pod carrier, and obtaining a desired angular velocity of the pod driven by the heading motor based on the angle error; obtaining an angular velocity error according to the actual angular velocity and the desired angular velocity of the pod driven by the heading motor, and obtaining control parameters of the pod driven by the heading motor based on the angular velocity error and the steering angular velocity of the pod carrier, so as to rotate the pod according to the control parameters. This can solve the problem of large locking deviation caused by interference such as the rotation of the pod carrier during angle locking of the pod, and reduce overshoot in control.

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