A dual-track chassis walking synchronization control method and system

Abstract

The present invention provides a synchronous travel control system and method for a dual-track chassis. The control system primarily includes a travel handle, a proportional coefficient a1 module, a first PID controller, a right track motor driver, a right track motor, a right track motor speed sensor, a right track motor speed compensator, a proportional coefficient b1 module, a second PID controller, a left track motor driver, a left track motor, a left track motor speed sensor, and a left track motor speed compensator. The travel handle is swung back and forth to control the travel direction and speed of the track chassis. Synchronous travel speed control employs a deviation coupling control algorithm to couple the speeds of the left and right track motors. By adjusting PID controller parameters, the PID controller calculates the actual speed deviation and outputs a corresponding PWM signal to the left and right track motor drivers, thereby achieving synchronous travel speed control of the dual-track chassis.

Description

Technical Field

[0001] The invention relates to a dual-track chassis walking synchronous control method and system, belonging to the field of emergency rescue robots. Background Art

[0002] The key to achieving synchronous movement on a dual-track chassis lies in the coordinated control of the left and right track motors. Initially, multi-motor synchronization was primarily achieved through mechanical transmission, using a high-power main motor as the power source. This power source was then transmitted to each axis via a transmission structure, such as gears and chains. This approach was costly, lacked flexibility, and transmission errors (such as backlash) resulted in significant errors.

[0003] With the continuous development of AC speed control technology and the continuous improvement of control theory, mechanical synchronization control methods are rapidly being replaced by electrical control methods. Electrical control methods use independent controllers for each motor, providing input instructions based on the needs of different coordinated operations, enabling the system to operate as expected. Currently, the main methods for multi-motor synchronization control include equal control, master-slave control, cross-coupling control, virtual spindle control, and deviation coupling control.

[0004] The patented dual-track chassis utilizes a rear-drive system with a motor mounted on each side of the left and right tracks. The two motors are controlled using a deviation coupling control method. This control method compares the collected speeds of the left and right motors, calculates the difference, and uses the difference as a feedback signal for the control system, which is then tracked. This control method can reflect changes in the load on either track motor, improving its anti-interference capability.

[0005] Currently, the most common approach in practical applications is equivalent control or parallel control. This approach typically requires the speed control system to set the same speed for both motors. Synchronization between the two motors can only be achieved when the loads in the system are strictly identical. This control method focuses on the error between the set speed and the actual speed, but does not consider the speed error between the two motors.

[0006] The advantage of the equal control or parallel control method is that the synchronization performance is better during the starting and stopping stages. However, for the entire control system, it is equivalent to open-loop control. When one of the motors is disturbed by the external load and cannot track its own control instructions well, the other motor cannot make corresponding adjustments based on its output disturbance, resulting in poor synchronization performance. In addition, the two motors track their respective control instructions independently, and no information is transmitted between the two motors. Summary of the Invention

[0007] The present invention provides a dual-track chassis walking synchronous control method and system, which solves the problems disclosed in the background technology.

[0008] In order to solve the above technical problems, the technical solution adopted by the present invention is: a method for synchronous control of walking of a dual-track chassis:

[0009] Get the given motor speed n*;

[0010] Given a motor speed n*, input the pre-built proportional coefficient a1 module and output the target speed a1n* of the right track motor;

[0011] Given a motor speed n*, input the pre-built proportional coefficient b1 module and output the target speed b1n* of the left track motor;

[0012] Collect the actual speed n1 of the right crawler motor and the actual speed n2 of the left crawler motor;

[0013] The a1, b1, n1 and n2 are input into the pre-built right track motor speed compensator, and the right track motor speed compensation signal B1 is output;

[0014] Input a1, b1, n1 and n2 into the pre-built left track motor speed compensator, and output the left track motor speed compensation signal B2;

[0015] Input a1n*, n1 and B1 into the pre-built right track speed deviation signal model and output the speed deviation e1;

[0016] Input b1n*, n2 and B2 into the pre-built left track speed deviation signal model and output the speed deviation e2;

[0017] If e1 and e2 are greater than e 期望 , where e 期望 If the desired speed deviation is obtained, then e1 is input into the pre-built first PID controller, which outputs the PWM1 signal. The PWM1 signal is used as the input signal of the right track motor driver input interface to control the speed of the right track motor. e2 is input into the pre-built second PID controller, which outputs the PWM2 signal. The PWM2 signal is used as the input signal of the left track motor driver input interface to control the speed of the left track motor.

[0018] If e1 and e2 are less than e 期望 , then e1 does not input the pre-built first PID controller, but directly uses the pre-set PWM1 signal as the input signal of the right track motor driver input interface to control the speed of the right track motor; e2 does not input the pre-built second PID controller, but directly uses the pre-set PWM2 signal as the input signal of the left track motor driver input interface to control the speed of the left track motor.

[0019] Expected speed deviation e 期望 Controlled at 5r / min, here e 期望 The smaller the value, the better the synchronization between the left and right motors, and the smaller the deviation of the track.

[0020] Furthermore,

[0021] The right crawler motor speed compensation signal B1=n1 / a1-n2 / b1.

[0022] Furthermore,

[0023] The left crawler motor speed compensation signal B2 = n2 / b1-n1 / a1.

[0024] Furthermore,

[0025] The speed deviation e1=a1n*-n1-(n1 / a1-n2 / b1).

[0026] Furthermore,

[0027] The speed deviation e2=b1n*-n2-(n2 / b1-n1 / a1).

[0028] Accordingly, a dual-track chassis walking synchronization control system includes:

[0029] Right track motor driver, right track motor, the right track motor driver is used to drive the right track motor, and the right track motor is used to drive the right track;

[0030] Left crawler motor driver, left crawler motor, the left crawler motor driver is used to drive the left crawler motor, and the left crawler motor is used to drive the left crawler;

[0031] Travel handle, used to output the given motor speed n* of the right crawler motor and the left crawler motor;

[0032] The proportional coefficient a1 module is used to input a given motor speed n* and output the target speed a1n* of the right track motor;

[0033] The proportional coefficient b1 module is used to input a given motor speed n* and output the target speed b1n* of the left crawler motor;

[0034] The right crawler motor speed sensor is used to collect the actual speed n1 of the right crawler motor;

[0035] The left crawler motor speed sensor is used to collect the actual speed n2 of the left crawler motor;

[0036] Right track motor speed compensator for input a1, b1, n1 and n2, output right track motor speed compensator signal B1;

[0037] The left crawler motor speed compensator is used to input a1, b1, n1 and n2, and output a left crawler motor speed compensation signal B2;

[0038] The right track speed deviation signal model is used to input a1n*, n1 and B1, and output the speed deviation e1;

[0039] The left track speed deviation signal model is used to input b1n*, n2 and B2, and output the speed deviation e2;

[0040] The first PID controller and the second PID controller, if e1 and e2 are greater than e 期望 , where e 期望 If the desired speed deviation is obtained, e1 is input into the first PID controller, which outputs the PWM1 signal. The PWM1 signal is used as the input signal of the right track motor driver input interface to control the speed of the right track motor. e2 is input into the second PID controller, which outputs the PWM2 signal. The PWM2 signal is used as the input signal of the left track motor driver input interface to control the speed of the left track motor.

[0041] If e1 and e2 are less than e 期望 , then e1 does not input the first PID controller, and directly uses the preset PWM1 signal as the input signal of the right track motor driver input interface to control the speed of the right track motor; e2 does not input the second PID controller, and directly uses the preset PWM2 signal as the input signal of the left track motor driver input interface to control the speed of the left track motor.

[0042] Expected speed deviation e 期望 Controlled at 5r / min, here e 期望 The smaller the value, the better the synchronization between the left and right motors, and the smaller the deviation of the track.

[0043] Furthermore,

[0044] The right crawler motor speed compensator outputs a right crawler motor speed compensation signal: B1=n1 / a1-n2 / b1.

[0045] Furthermore,

[0046] The left crawler motor speed compensator outputs a left crawler motor speed compensation signal: B2=n2 / b1-n1 / a1.

[0047] Furthermore,

[0048] The speed deviation e1 output by the right track speed deviation signal model is equal to a1n*-n1-(n1 / a1-n2 / b1).

[0049] Furthermore,

[0050] The speed deviation e2 output by the left track speed deviation signal model is equal to b1n*-n2-(n2 / b1-n1 / a1).

[0051] The beneficial effects achieved by the present invention are:

[0052] (1) According to the synchronous control of the motor speed of the dual-track chassis, by coupling the motor speeds of the left and right tracks, the synchronization performance of the motor speeds of the left and right tracks can be greatly improved, thereby reducing the deviation of the dual-track chassis when walking straight forward. This improves the ability of the dual-track chassis to travel straight.

[0053] (2) By performing PID closed-loop control on the speed of the left and right crawler motors, the anti-disturbance capability of the speed of any motor of the left and right crawlers is improved, thereby ensuring the smooth operation of the dual-track chassis during travel. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a schematic diagram of the structure of the crawler travel speed synchronization control system of the present invention;

[0055] Figure 2 It is a flow chart of the crawler walking speed synchronization control method of the present invention. DETAILED DESCRIPTION

[0056] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0057] like Figure 1As shown in the figure, a dual-track chassis walking synchronous control system of the present invention, the driving handle is connected to the input interface of the proportional coefficient a1 module and the input interface of the proportional coefficient b1 module respectively, the signal of the driving handle, that is, the given motor speed n* is calculated by the proportional coefficient a1 module to obtain the target speed a1n* of the right track motor, and the given motor speed n* is calculated by the proportional coefficient b1 module to obtain the target speed b1n* of the left track motor, the right track motor collects the actual speed n1 of the right track motor through the right track motor speed sensor, and the actual speed n1 of the right track motor is respectively used as the first PID controller input The feedback signal of the input interface, the input of the right track motor speed compensator input interface and the input of the left track motor speed compensator input interface are collected by the left track motor through the left track motor speed sensor to obtain the actual speed n2 of the left track motor. The actual speed n2 of the left track motor is used as the feedback signal of the second PID controller input interface, the input of the left track motor speed compensator input interface and the input of the right track motor speed compensator input interface respectively. The output B1 of the right track motor speed compensator output interface is n1 / a1-n2 / b1, and the output B2 of the left track motor speed compensator output interface is n2 / b1-n1 / a1, the input signal e1 of the first PID controller input interface is the speed deviation signal, e1=a1n*-n1-(n1 / a1-n2 / b1), the deviation signal e1 is calculated by the first PID controller, and the desired PWM1 signal can be obtained at the output interface of the first PID controller. The PWM1 signal is used as the input signal of the right track motor driver input interface to control the speed of the right track motor; the input signal e2 of the second PID controller input interface is the speed deviation signal, e2=b1n*-n2-(n2 / b1-n1 / a1), the deviation signal e2 is calculated by the second PID controller, and the desired PWM2 signal can be obtained at the output interface of the second PID controller. The PWM2 signal is used as the input signal of the left track motor driver input interface to control the speed of the left track motor.

[0058] like Figure 2As shown, a dual-track chassis walking synchronization control method of the present invention, first the driving handle is swung back and forth, indicating that the crawler chassis is to walk in a straight line. In order to control the offset of the crawler chassis walking, the left and right crawler speeds are absolutely synchronized at this time, and the amplitude of the driving handle swinging back and forth is positively correlated with the given motor speed n*. The proportional coefficient a1 module and the proportional coefficient b1 module are set to be equal to the proportional coefficient a1 module. The signal of the driving handle, that is, the given motor speed n*, is calculated by the proportional coefficient a1 module to obtain the target speed a1n* of the right crawler motor. The given motor speed n* is calculated by the proportional coefficient b1 module to obtain the target speed b1n* of the right crawler motor. The right crawler motor is controlled by the right crawler motor speed. The sensor collects the actual speed n1 of the right track motor, which is used as the feedback signal of the first PID controller input interface, the input of the right track motor speed compensator input interface, and the input of the left track motor speed compensator input interface. The left track motor collects the actual speed n2 of the left track motor through the left track motor speed sensor, which is used as the feedback signal of the second PID controller input interface, the input of the left track motor speed compensator input interface, and the input of the right track motor speed compensator input interface. The output B1 of the right track motor speed compensator output interface is n1 / a1-n2 / b1, and the output B2 of the left track motor speed compensator output interface is n2 / b1-n1 / a1, the input signal e1 of the first PID controller input interface is the speed deviation signal, e1=a1n*-n1-(n1 / a1-n2 / b1), the input signal e2 of the second PID controller input interface is the speed deviation signal, e2=b1n*-n2-(n2 / b1-n1 / a1), the speed deviations e1 and e2 are compared with the desired speed deviation e 期望 For comparison, the expected speed deviation e 期望 Controlled at 5r / min, here e 期望 The smaller the value, the better the synchronization of the left and right motors, and the smaller the deviation of the track. If the speed deviation e1 and e2 are greater than e 期望 , indicating that the absolute synchronization of the left and right crawler motor speeds is not good at this time, which is beyond expectations. The speed deviation signal e1 and the speed deviation signal e2 need to be calculated and adjusted by the first PID controller and the second PID controller. The output interface of the first PID controller outputs the PWM1 signal. The PWM1 signal is used as the input signal of the right crawler motor driver input interface to control the speed of the right crawler motor. The output interface of the second PID controller outputs the PWM2 signal. The PWM2 signal is used as the input signal of the left crawler motor driver input interface to control the speed of the left crawler motor. If the speed deviations e1 and e2 are less than e 期望This indicates that the left and right track motors are now in perfect absolute synchronization. The speed deviation signals e1 and e2 no longer require adjustment by the first and second PID controllers; the pre-set PWM1 and PWM2 signals can be directly fed into the input interfaces of the left and right track motor drivers. This control process ensures absolute synchronization of the left and right track motor speeds.

[0059] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

[0060] A computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions, which, when executed by a computing device, enable the computing device to execute a dual-track chassis walking synchronization control method of the present invention.

[0061] A computing device includes one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and are configured to be executed by the one or more processors, and the one or more programs include instructions for executing a dual-track chassis walking synchronization control method of the present invention.

[0062] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0063] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0064] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0065] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0066] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the scope of the claims of the present invention to be approved.

Claims

1. A method for synchronous control of dual-track chassis travel, characterized in that: Get the given motor speed n*; Given a motor speed n*, input the pre-built proportional coefficient a1 module and output the target speed a1n* of the right track motor; Given a motor speed n*, input the pre-built proportional coefficient b1 module and output the target speed b1n* of the left track motor; Collect the actual speed n1 of the right crawler motor and the actual speed n2 of the left crawler motor; The a1, b1, n1 and n2 are input into the pre-built right track motor speed compensator, and the right track motor speed compensation signal B1 is output; Input a1, b1, n1 and n2 into the pre-built left track motor speed compensator, and output the left track motor speed compensation signal B2; Input a1n*, n1 and B1 into the pre-built right track speed deviation signal model and output the speed deviation e1; Input b1n*, n2 and B2 into the pre-built left track speed deviation signal model and output the speed deviation e2; If e1 and e2 are greater than e 期望 , where e 期望 If the desired speed deviation is obtained, then e1 is input into the pre-built first PID controller, which outputs the PWM1 signal. The PWM1 signal is used as the input signal of the right track motor driver input interface to control the speed of the right track motor. e2 is input into the pre-built second PID controller, which outputs the PWM2 signal. The PWM2 signal is used as the input signal of the left track motor driver input interface to control the speed of the left track motor. If e1 and e2 are less than e 期望 , then e1 does not input the pre-built first PID controller, but directly uses the pre-set PWM1 signal as the input signal of the right track motor driver input interface to control the speed of the right track motor; e2 does not input the pre-built second PID controller, but directly uses the pre-set PWM2 signal as the input signal of the left track motor driver input interface to control the speed of the left track motor.

2. The method for controlling the movement of a dual-track chassis according to claim 1, characterized in that: The right crawler motor speed compensation signal B1=n1 / a1-n2 / b1.

3. The method for controlling the movement of a dual-track chassis according to claim 1, wherein: The left crawler motor speed compensation signal B2 = n2 / b1-n1 / a1.

4. The method for controlling the movement of a dual-track chassis according to claim 1, wherein: The speed deviation e1=a1n*-n1-(n1 / a1-n2 / b1).

5. The method for controlling the movement of a dual-track chassis according to claim 1, wherein: The speed deviation e2=b1n*-n2-(n2 / b1-n1 / a1).

6. A dual-track chassis walking synchronous control system, characterized in that: include: Right track motor driver, right track motor, the right track motor driver is used to drive the right track motor, and the right track motor is used to drive the right track; Left crawler motor driver, left crawler motor, the left crawler motor driver is used to drive the left crawler motor, and the left crawler motor is used to drive the left crawler; Travel handle, used to output the given motor speed n* of the right crawler motor and the left crawler motor; The proportional coefficient a1 module is used to input a given motor speed n* and output the target speed a1n* of the right track motor; The proportional coefficient b1 module is used to input a given motor speed n* and output the target speed b1n* of the left crawler motor; The right crawler motor speed sensor is used to collect the actual speed n1 of the right crawler motor; The left crawler motor speed sensor is used to collect the actual speed n2 of the left crawler motor; Right track motor speed compensator for input a1, b1, n1 and n2, output right track motor speed compensator signal B1; The left crawler motor speed compensator is used to input a1, b1, n1 and n2, and output a left crawler motor speed compensation signal B2; The right track speed deviation signal model is used to input a1n*, n1 and B1, and output the speed deviation e1; The left track speed deviation signal model is used to input b1n*, n2 and B2, and output the speed deviation e2; The first PID controller and the second PID controller, if e1 and e2 are greater than e 期望 , where e 期望 If the desired speed deviation is obtained, e1 is input into the first PID controller, which outputs the PWM1 signal. The PWM1 signal is used as the input signal of the right track motor driver input interface to control the speed of the right track motor. e2 is input into the second PID controller, which outputs the PWM2 signal. The PWM2 signal is used as the input signal of the left track motor driver input interface to control the speed of the left track motor. If e1 and e2 are less than e 期望 , then e1 does not input the first PID controller, and directly uses the preset PWM1 signal as the input signal of the right track motor driver input interface to control the speed of the right track motor; e2 does not input the second PID controller, and directly uses the preset PWM2 signal as the input signal of the left track motor driver input interface to control the speed of the left track motor.

7. The dual-track chassis walking synchronous control system according to claim 6, characterized in that: The right crawler motor speed compensator outputs a right crawler motor speed compensation signal: B1=n1 / a1-n2 / b1.

8. The dual-track chassis walking synchronous control system according to claim 6, characterized in that: The left crawler motor speed compensator outputs a left crawler motor speed compensation signal: B2=n2 / b1-n1 / a1.

9. The dual-track chassis walking synchronous control system according to claim 6, characterized in that: The speed deviation e1 output by the right track speed deviation signal model is equal to a1n*-n1-(n1 / a1-n2 / b1).

10. The dual-track chassis travel synchronization control system according to claim 6, characterized in that: The speed deviation e2 output by the left track speed deviation signal model is equal to b1n*-n2-(n2 / b1-n1 / a1).

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