Torque control method of mobile platform and mobile platform

Abstract

The present application relates to the technical field of trackless road vehicles, and more specifically, to a torque control method for a mobile platform and a mobile platform. The method includes: in the pre-calibration stage, recording the corresponding relationship between the road surface state, load and final starting torque in a database; in the starting stage of the mobile platform, obtaining the current road surface type and current load corresponding to each wheel of the mobile platform; matching the current road surface type and current load in the database to obtain the starting torque of each motor; allocating the starting torque to each motor; in the process of each motor running, collecting the current speed of the mobile platform; according to the difference between the current speed and the target speed range, synchronously adjusting the torque of each motor until the current speed falls within the target speed range, completing the starting stage.

Description

Technical Field

[0001] The present application relates to the technical field of trackless road vehicles, and in particular to a torque control method of a mobile platform and a mobile platform. Background Art

[0002] With the development of intelligent connected vehicle technology, the industry has an increasingly urgent need for intelligent connected field test equipment, which includes target systems, control systems, data acquisition systems, and scene building equipment. The intelligent connected field test mobile platform can control the target objects required for field testing to move according to the established route, speed, and time.

[0003] The driving torque of the mobile platform is provided by four motors. When the mobile platform faces different loads and is in different road conditions, if only a set of fixed torque values ​​is used to control the motors, the control effect of the mobile platform will be poor or even jitter will occur when it starts.

[0004] In view of this, this application is filed. Summary of the invention

[0005] The purpose of the present application is to provide a torque control method for a mobile platform and a mobile platform, so as to perform adaptive motor control during the startup phase of the mobile platform to ensure smooth startup under different road types and load conditions.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a torque control method for a mobile platform, wherein the mobile platform includes a plurality of wheels, each wheel is driven by an independent motor, and the method includes:

[0008] In the pre-calibration stage, according to the different road surface types and loads corresponding to each wheel of the mobile platform, the initial torque value is assigned to the motor of each wheel; the starting torque is continuously adjusted based on the initial torque value until the wheel speed of each wheel reaches the set range within the set number of cycles; the corresponding relationship between the road surface state, load and the final starting torque is recorded in the database;

[0009] During the startup phase of the mobile platform, the current road surface type and current load corresponding to each wheel of the mobile platform are obtained; the current road surface type and current load are matched in the database to obtain the starting torque of each motor; the starting torque is allocated to each motor; during the operation of each motor, the current vehicle speed of the mobile platform is collected; according to the difference between the current vehicle speed and the target vehicle speed range, the torque of each motor is synchronously adjusted until the current vehicle speed falls within the target vehicle speed range, thereby completing the startup phase.

[0010] Optionally, according to different road surface types and loads corresponding to each wheel of the mobile platform, the initial torque value is configured to the motor of each wheel, including:

[0011] Determine the adhesion coefficient of the road surface according to the type of road surface that each wheel contacts;

[0012] The load collected at each wheel and the adhesion coefficient are weighted to obtain the initial value of the torque of each wheel motor.

[0013] Optionally, the starting torque is continuously adjusted based on the initial torque value until the wheel speed of each wheel reaches a set range within a set number of cycles, including:

[0014] If the wheel speed of the first wheel is 0, determining a torque increase ratio compared with the previous cycle according to the load of the first wheel;

[0015] Calculating a current starting torque of a current cycle according to the torque increase ratio, and allocating the current starting torque to a first motor of a first wheel;

[0016] If the wheel speed of the first wheel is not 0, adjusting the current starting torque so that the wheel speed of the first wheel within a set number of cycles reaches a set range;

[0017] Wherein, the first wheel is any wheel in the mobile platform.

[0018] Optionally, determining the torque increase ratio compared with the previous cycle according to the load of the first wheel includes:

[0019] If the load of the first wheel is not 0, determining a first torque increase ratio compared to a previous cycle;

[0020] If the load of the first wheel is not zero, a reference torque is determined; if the torque of the previous cycle is greater than the reference torque, a second torque increase ratio compared to the previous cycle is determined; if the torque of the previous cycle is less than or equal to the reference torque, a first torque increase ratio compared to the previous cycle is determined;

[0021] The first torque increase ratio is greater than the second torque increase ratio.

[0022] Optionally, if the wheel speed of the first wheel is not 0, adjusting the current starting torque so that the wheel speed of the first wheel reaches a set range within a set number of cycles includes:

[0023] If the wheel speed of the first wheel is not 0, collecting multiple wheel speeds of the first wheel within the most recent set number of cycles;

[0024] Determine whether any wheel speed among the multiple wheel speeds exceeds a set range;

[0025] If it exists, multiply the starting torque of the previous cycle by the coefficient to obtain the current starting torque, and configure the current starting torque to the first motor;

[0026] The operation of determining whether any wheel speed among the plurality of wheel speeds exceeds the set interval is returned until the plurality of wheel speeds all fall within the set interval.

[0027] Optionally, the coefficient is obtained according to the upper limit value of the set interval and the current wheel speed.

[0028] Optionally, according to the difference between the current vehicle speed and the target vehicle speed range, the torque of each motor is synchronously adjusted until the current vehicle speed falls within the target vehicle speed range, including:

[0029] If the current vehicle speed is less than the lower limit of the target vehicle speed range, calculating a first difference between the lower limit and the current vehicle speed;

[0030] Determine a third torque increase ratio according to the first difference, and control each motor to synchronously increase the third torque increase ratio compared to the previous cycle;

[0031] If the current vehicle speed is greater than the upper limit of the target vehicle speed range, calculating a second difference between the current vehicle speed and the upper limit;

[0032] A first torque reduction ratio is determined according to the second difference, and each motor is controlled to synchronously reduce the first torque reduction ratio compared with the previous cycle.

[0033] Optionally, the method further includes:

[0034] Real-time recording of the duration of the pre-calibration phase;

[0035] When the duration of the pre-calibration phase reaches the set duration, the startup phase is completed.

[0036] In a second aspect, the present application provides a mobile platform, including:

[0037] Multiple wheels, each wheel is driven by an independent motor;

[0038] A pressure sensor corresponding to each wheel is used to measure the load corresponding to each wheel and transmit it to the controller;

[0039] A perception sensor, used to obtain the type of road surface on which each wheel is located, and transmit the information to the controller;

[0040] A controller is used to execute any torque control method for a mobile platform.

[0041] Compared with the prior art, the beneficial effects of this application are:

[0042] In the pre-calibration stage, the application calibrates the appropriate starting torque of each wheel motor according to the different road surface types and loads corresponding to each wheel of the mobile platform; in the starting stage of the mobile platform, the appropriate starting torque is directly selected according to the current road surface type and current load; then, according to the difference between the current vehicle speed and the target vehicle speed range, the torque of each motor is synchronously adjusted until the current vehicle speed falls within the target vehicle speed range, completing the starting stage. This ensures that the mobile platform can accurately and smoothly respond to the controller's start request when facing different loads and in different road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 is a flow chart of a torque control method for a mobile platform provided in an embodiment of the present application;

[0045] Figure 2 is a flow chart of another torque control method for a mobile platform provided in an embodiment of the present application;

[0046] Figure 3 is a schematic diagram of the structure of a mobile platform provided in an embodiment of the present application;

[0047] Figure 4 It is a schematic diagram of the structure of the controller provided in the embodiment of the present application. DETAILED DESCRIPTION

[0048] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0049] The present application embodiment provides a method for controlling torque of a mobile platform, which is applicable to the case of starting control of a mobile platform with multiple electric drive wheels. The method provided in this embodiment is executed by a controller deployed on the mobile platform.

[0050] In order to facilitate the description of the method of this embodiment, the mobile platform is first introduced. The mobile platform includes a plurality of wheels, preferably 4 or 8. Each wheel is driven by an independent motor, so that the torque of each wheel can be controlled individually. The driving force of the mobile platform is provided by motors distributed at a plurality of wheels. The operating states of the mobile platform are divided into three states: parking state, starting state, and driving state. In the starting state, the motor torque (called starting torque) is much larger than the torque required for the normal driving state. When the controller on the mobile platform receives a start request, the controller needs to provide a starting torque to each motor respectively so that the mobile platform can be switched from a parking state to a starting state.

[0051] In the prior art, the controller generally gives each motor the same starting torque, which is an empirical value. Since each wheel has a different load and is in contact with a different road surface condition, and the empirical value is not applicable to the overall situation of the mobile platform, the starting process will jitter and the control effect will be poor. In order to solve the problems in the prior art, this embodiment takes into account the impact of different loads and road conditions on the wheels, and adaptively learns the most appropriate starting torque in the pre-calibration stage. During the startup phase of the mobile platform, the calibrated starting torque is used as the initial value, and the torque ratio of each wheel motor is controlled to increase / decrease synchronously, so as to control the current vehicle speed to fall within the target speed range, so that the mobile platform can reach the target speed range from stationary to complete the startup phase.

[0052] See also Figure 1 , the method provided in this embodiment includes the following operations:

[0053] S110. In the pre-calibration stage, according to the different road surface types and loads corresponding to each wheel of the mobile platform, the initial torque value is assigned to the motor of each wheel; the starting torque is continuously adjusted based on the initial torque value until the wheel speed of each wheel reaches the set range within the set number of cycles; and the corresponding relationship between the road surface state, load and final starting torque is recorded in the database.

[0054] S120. During the startup phase of the mobile platform, the current road surface type and current load corresponding to each wheel of the mobile platform are obtained; the current road surface type and current load are matched in the database to obtain the starting torque of each motor; the starting torque is allocated to each motor; during the operation of each motor, the current vehicle speed of the mobile platform is collected; according to the difference between the current vehicle speed and the target vehicle speed range, the torque of each motor is synchronously adjusted until the current vehicle speed falls within the target vehicle speed range, thereby completing the startup phase.

[0055] During the pre-calibration phase and the start-up phase, the same type of mobile platform, motor and wheels should be used to ensure that the calibrated starting torque can be applied to the mobile platform.

[0056] The mobile platform is equipped with perception sensors, such as cameras, which can collect images of the road surface where the wheels are located and have certain image processing capabilities. After image analysis (such as texture recognition), the road surface type (such as asphalt road, dirt road, icy and snowy road surface, or flooded road surface, etc.) is obtained. The road surface types of different wheels need to be analyzed separately, and the road surface type of each wheel is accurately identified and transmitted to the controller. A pressure sensor is installed above each wheel. The pressure sensor is used to measure the load borne by each wheel and transmit the load to the controller. The load of each wheel needs to be analyzed separately to accurately identify the load borne by each wheel.

[0057] The adhesion coefficient refers to the adhesion ability of the tire on different road surfaces. The size of the adhesion coefficient directly reflects the maximum adhesion that the tire can provide under different road conditions, and is crucial to the driving stability and safety of the vehicle. When the adhesion coefficient is large, the friction between the tire and the road surface increases, the tire's grip also increases, and the vehicle is less likely to slip. The greater the load, the greater the torque the motor should provide to start the mobile platform. It can be seen that the initial torque value is different for different loads and road surface types. Optionally, the adhesion coefficient of the road surface is determined based on the type of road surface that each wheel contacts; the load and adhesion coefficient collected at each wheel are weighted to obtain the initial torque value of each wheel motor. , see the following formula:

[0058] ;

[0059] in, and is the weight, M is the load in kg, and N is the adhesion coefficient.

[0060] The weights of load and adhesion coefficient can be obtained based on experience. Through weighted summation, a preliminary motor torque can be given according to the road type and load of each wheel, and adjustments can be made on this basis, which can effectively improve the calibration efficiency.

[0061] The controller sends the initial torque value of each motor to each motor, and each motor starts to apply torque, and the wheel may start to rotate. At this time, the starting torque is continuously adjusted based on the initial torque value until the wheel speed of each wheel reaches the set interval within the set number of cycles. The set number of cycles can be 10 times, and the set interval can be 100 rpm.

[0062] See also Figure 2 This embodiment provides a more specific method, including the following operations:

[0063] S210, start.

[0064] S220, recording the duration of the pre-calibration phase in real time, and determining whether the pre-calibration phase reaches the set duration. If yes, execute S221; if no, execute S230.

[0065] S221, calibration failure.

[0066] The set duration is the maximum duration of the pre-calibration phase. If the pre-calibration phase reaches the set duration (eg, 5000ms), the calibration fails. This embodiment sets a time limit for the pre-calibration phase to ensure that the mobile platform completes the startup phase in a shorter time.

[0067] S230: Collect the wheel speed of each wheel.

[0068] S240: Determine whether the wheel speeds of all wheels within the set number of cycles have reached the set range, if yes, the pre-calibration stage is completed. If no, execute S250.

[0069] S241, complete the pre-calibration phase and execute S300.

[0070] S250: Select the first wheel that has not been calibrated, and determine whether the wheel speed of the first wheel is 0. If yes, execute S260. If no, execute S270.

[0071] The first wheel is any wheel in the mobile platform. Multiple wheels can be calibrated in parallel.

[0072] S260, determining the torque increase ratio compared with the previous cycle according to the load of the first wheel; calculating the current starting torque of the current cycle according to the torque increase ratio, and assigning the current starting torque to the first motor of the first wheel. Return to S250, and continue to determine whether the wheel speed is still 0.

[0073] Specifically, if the load of the first wheel is not 0, the first torque increase ratio compared to the previous cycle is determined. For example, based on the torque of the first motor in the previous cycle, 20% of the maximum torque of the motor is increased. If the load of the first wheel is not 0, a reference torque is determined (the reference torque value is, for example, 0 or 5). If the torque of the first motor in the previous cycle is greater than the reference torque, the second torque increase ratio compared to the previous cycle is determined. For example, based on the torque of the first motor in the previous cycle, 10% of the maximum torque of the motor is increased. If the torque of the previous cycle is less than or equal to the reference torque, the first torque increase ratio compared to the previous cycle is determined. For example, based on the torque of the first motor in the previous cycle, 20% of the maximum torque of the motor is increased. The first torque increase ratio is greater than the second torque increase ratio.

[0074] It can be seen that when the wheel has a certain load, a larger torque needs to be added; when the wheel load is 0, the torque of this cycle will be adjusted according to the torque value of the previous cycle. It should be noted that the first "previous cycle" is the initial torque value. As the motor torque increases, the torque value of the "previous cycle" will be adjusted one by one.

[0075] After the current starting torque is configured to the first motor of the first wheel, the motor torque increases, which will drive the wheel to rotate. The wheel speed is no longer 0, so the current starting torque needs to be adjusted so that the wheel speed of the first wheel reaches the set range within the set number of cycles.

[0076] S270: Collect multiple wheel speeds of the first wheel within a recent set number of cycles.

[0077] S280, determine whether any wheel speed among the multiple wheel speeds exceeds the set range. If yes, execute S290. If no, it means that the wheel speed of the first wheel is stable, the calibration phase is completed, and the corresponding relationship between the road surface state, load and final starting torque is recorded in the database. Return to S240.

[0078] The number of cycles can be set to 10, with each sample collected every 10 ms. If the wheel speeds collected 10 times are all less than 100 rpm, it means that the wheel speeds are all stable within 100 rpm in the last 100 ms, and the torque calibration of the first motor is successful.

[0079] S290, multiply the starting torque of the previous cycle by the coefficient to obtain the current starting torque, and allocate the current starting torque to the first motor. Return to S280.

[0080] If any wheel speed exceeds the set interval, it means that the wheel speed is unstable, and the torque of the first motor needs to be readjusted. Optionally, the coefficient k is obtained according to the upper limit value of the set interval and the current wheel speed, see the following formula:

[0081] ;

[0082] Among them, Tcurrent is the starting torque of the current cycle, Tprevious is the starting torque of the previous cycle, and vcurrent is the wheel speed of the current cycle.

[0083] S300, during the startup phase of the mobile platform, obtaining the current road surface type and current load corresponding to each wheel of the mobile platform; matching the current road surface type and current load in a database to obtain the starting torque of each motor; and configuring the starting torque to each motor.

[0084] S310: While each motor is running, the current speed of the mobile platform is collected.

[0085] When the starting torque is applied to each motor, each wheel will rotate under the drive of each motor to generate wheel speed. Although the road surface type and load of each wheel are different, due to the direct use of the pre-calibrated starting torque, it can stabilize to a certain wheel speed in a short time, thereby driving the mobile platform to generate vehicle speed. Optionally, a speed sensor or inertial measurement unit is configured on the mobile platform to measure the current vehicle speed of the mobile platform.

[0086] S320: Determine whether the current vehicle speed is less than the lower limit of the target vehicle speed range. If so, execute S330; if not, execute S340.

[0087] The target speed range of the mobile platform is set in advance according to business needs. It is also the speed range that the mobile platform needs to reach to complete the startup phase. For example, the target speed range is 0.1km / h~1km / h.

[0088] If the current vehicle speed is less than 0.1 km / h, the torque of each wheel should be increased. Different from the strategy of calibrating each wheel separately in the previous calibration phase, the torque of each wheel motor needs to be increased synchronously by the same torque value in the startup phase to ensure a smooth startup of the mobile platform.

[0089] S330, calculating a first difference between the lower limit and the current vehicle speed; determining a third torque increase ratio according to the first difference, and controlling each motor to synchronously increase the third torque increase ratio compared to the previous cycle. Return to S320.

[0090] If the current vehicle speed is far from the lower limit of 0.1 km / h, it means that the vehicle speed is very low and needs to be increased. Optionally, the first difference is used as a coefficient and multiplied by the maximum torque of the motor to obtain a third torque increase ratio. Of course, a fixed third torque increase ratio can also be set, such as 1%. Each motor increases the third torque increase ratio based on the torque of its previous cycle.

[0091] S340: Determine whether the current vehicle speed is greater than the upper limit of the target vehicle speed range. If yes, execute S350; if no, execute S360.

[0092] S350, calculating a second difference between the current vehicle speed and the upper limit; determining a first torque reduction ratio according to the second difference, and controlling each motor to synchronously reduce the first torque reduction ratio compared to the previous cycle. Return to S320.

[0093] If the current vehicle speed exceeds the upper limit by more than 1km / h, it means that the vehicle speed is too high. A high speed may cause the vehicle to become unstable and start up unsmoothly. Therefore, the vehicle speed needs to be reduced. Optionally, the second difference is used as a coefficient and multiplied by the maximum torque of the motor to obtain the first torque reduction ratio. Of course, a fixed first torque reduction ratio can also be set, such as 1%. Each motor reduces the first torque reduction ratio based on the torque of its previous cycle.

[0094] S360, complete the startup phase.

[0095] When the speed of the mobile platform stabilizes to 0.1km / h~1km / h, it means that the mobile platform has completed the startup phase.

[0096] In the pre-calibration stage, the application calibrates the appropriate starting torque of each wheel motor according to the different road surface types and loads corresponding to each wheel of the mobile platform; in the starting stage of the mobile platform, the appropriate starting torque is directly selected according to the current road surface type and current load; then, according to the difference between the current vehicle speed and the target vehicle speed range, the torque of each motor is synchronously adjusted until the current vehicle speed falls within the target vehicle speed range, completing the starting stage. This ensures that the mobile platform can accurately and smoothly respond to the controller's start request when facing different loads and in different road conditions.

[0097] This application designs a method for adaptive starting torque of four drive motors of an intelligent mobile platform facing different loads. By adaptively learning the torque required by the four drive motors at startup, the startup control of the mobile platform facing different loads and in different road conditions can achieve relatively high accuracy. The control method of the present invention can be transplanted into the startup control strategy of other mobile platforms with different vehicle speeds and configurations, so as to achieve accurate and stable response of the mobile platform to the startup and position accuracy control requirements of the upper-level controller.

[0098] See also Figure 3 The embodiment of the present application also provides a mobile platform, which includes multiple wheels, each wheel is driven by an independent motor; it also includes a pressure sensor corresponding to each wheel, which is used to measure the load corresponding to each wheel and transmit it to a controller; a perception sensor is used to obtain the type of road surface on which each wheel is located and transmit it to the controller; the controller is used to execute any torque control method of the mobile platform.

[0099] See also Figure 4 The controller includes at least one processor 301 and a memory 302 communicatively connected to the at least one processor 301 .

[0100] The memory 302 stores instructions that can be executed by at least one of the processors 301. The instructions are executed by at least one of the processors 301 so that at least one of the processors 301 can execute the above-mentioned torque control method for the mobile platform, thereby having at least the same advantages as the above-mentioned method.

[0101] Optionally, the controller also includes interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the controller, including instructions stored in or on a memory to display graphical information of a GUI (Graphical User Interface) on an external input / output device (such as a display device coupled to an interface). In other embodiments, if necessary, multiple processors can be used together with multiple memories, and / or multiple buses can be used together with multiple memories. Similarly, multiple electronic devices can be connected (for example, as a server array, a group of blade servers, or a multi-processor system), and each device provides some necessary operations.

[0102] The memory 302 is a computer-readable storage medium that can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the torque control method for a mobile platform in the embodiment of the present application. The processor 301 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 301, that is, realizing the torque control method for the mobile platform described above.

[0103] The memory 301 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 302 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 302 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0104] The controller may further include: an input device 303 and an output device 304. The processor 301, the memory 301, the input device 303 and the output device 304 may be connected via a bus or other means.

[0105] The input device 303 can receive input digital or character information, and the output device 304 can include a display device, an auxiliary lighting device (e.g., LED), and a tactile feedback device (e.g., a vibration motor), etc. The display device can include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display, and a plasma display. In some embodiments, the display device can be a touch screen.

[0106] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution disclosed in this application can be achieved, and this document is not limited here.

[0107] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A torque control method for a mobile platform, characterized in that: The mobile platform includes a plurality of wheels, each wheel is driven by an independent motor, and the method includes: In the pre-calibration stage, according to the different road surface types and loads corresponding to each wheel of the mobile platform, the initial torque value is assigned to the motor of each wheel; the starting torque is continuously adjusted based on the initial torque value until the wheel speed of each wheel reaches the set range within the set number of cycles; the corresponding relationship between the road surface state, load and the final starting torque is recorded in the database; During the start-up phase of the mobile platform, the current road surface type and current load corresponding to each wheel of the mobile platform are obtained; the current road surface type and current load are matched in the database to obtain the starting torque of each motor; the starting torque is allocated to each motor; during the operation of each motor, the current vehicle speed of the mobile platform is collected; according to the difference between the current vehicle speed and the target vehicle speed range, the torque of each motor is synchronously adjusted until the current vehicle speed falls within the target vehicle speed range, thereby completing the start-up phase; The starting torque is continuously adjusted based on the initial torque value until the wheel speed of each wheel reaches a set range within a set number of cycles, including: If the wheel speed of the first wheel is 0, determining a torque increase ratio compared with the previous cycle according to the load of the first wheel; Calculating a current starting torque of a current cycle according to the torque increase ratio, and allocating the current starting torque to a first motor of a first wheel; If the wheel speed of the first wheel is not 0, adjusting the current starting torque so that the wheel speed of the first wheel within a set number of cycles reaches a set range; Wherein, the first wheel is any wheel in the mobile platform.

2. The method according to claim 1, characterized in that According to the different road surface types and loads corresponding to each wheel of the mobile platform, the initial torque value is configured to the motor of each wheel, including: Determine the adhesion coefficient of the road surface according to the type of road surface that each wheel contacts; The load collected at each wheel and the adhesion coefficient are weighted to obtain the initial value of the torque of each wheel motor.

3. The method according to claim 1, characterized in that Determining a torque increase ratio compared to a previous cycle according to the load of the first wheel includes: If the load of the first wheel is not 0, determining a first torque increase ratio compared to a previous cycle; If the load of the first wheel is not zero, a reference torque is determined; if the torque of the previous cycle is greater than the reference torque, a second torque increase ratio compared to the previous cycle is determined; if the torque of the previous cycle is less than or equal to the reference torque, a first torque increase ratio compared to the previous cycle is determined; The first torque increase ratio is greater than the second torque increase ratio.

4. The method according to claim 1, characterized in that: If the wheel speed of the first wheel is not 0, adjusting the current starting torque so that the wheel speed of the first wheel within a set number of cycles reaches a set range, including: If the wheel speed of the first wheel is not 0, collecting multiple wheel speeds of the first wheel within the most recent set number of cycles; Determine whether any wheel speed among the multiple wheel speeds exceeds a set range; If it exists, multiply the starting torque of the previous cycle by the coefficient to obtain the current starting torque, and configure the current starting torque to the first motor; The operation of determining whether any wheel speed among the plurality of wheel speeds exceeds the set interval is returned until the plurality of wheel speeds all fall within the set interval.

5. The method according to claim 4, characterized in that The coefficient is obtained according to the upper limit value of the setting interval and the current wheel speed.

6. The method according to claim 1, characterized in that According to the difference between the current vehicle speed and the target vehicle speed range, the torque of each motor is synchronously adjusted until the current vehicle speed falls within the target vehicle speed range, including: If the current vehicle speed is less than the lower limit of the target vehicle speed range, calculating a first difference between the lower limit and the current vehicle speed; Determine a third torque increase ratio according to the first difference, and control each motor to synchronously increase the third torque increase ratio compared to the previous cycle; If the current vehicle speed is greater than the upper limit of the target vehicle speed range, calculating a second difference between the current vehicle speed and the upper limit; A first torque reduction ratio is determined according to the second difference, and each motor is controlled to synchronously reduce the first torque reduction ratio compared with the previous cycle.

7. The method according to any one of claims 1 to 6, characterized in that: include: Real-time recording of the duration of the pre-calibration phase; When the duration of the pre-calibration phase reaches the set duration, the startup phase is completed.

8. A mobile platform, characterized in that: include: Multiple wheels, each wheel is driven by an independent motor; A pressure sensor corresponding to each wheel is used to measure the load corresponding to each wheel and transmit it to the controller; A perception sensor, used to obtain the type of road surface on which each wheel is located, and transmit the information to the controller; A controller for executing the torque control method for a mobile platform as described in any one of claims 1-7.

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