Differential control method and system for multi-wheel independent drive and terminal equipment

Abstract

The invention provides a differential control method and system for multi-wheel independent drive and terminal equipment, and the method comprises the steps: when a control system receives a steering control command issued by a control end, a program will judge that a current steering working condition belongs to an unmanned platform steering differential control request under a driving steering working condition; the in-situ steering differential control request under the working condition of no driving command is determined; and according to the judgment result, the rotating speed of each driving wheel is adjusted according to a preset control strategy, so that the platform completes the differential steering action. According to the control method, aiming at the differential steering working conditions of the unmanned platform, automatic identification of all the working conditions and differential steering control are achieved, meanwhile, system safety control is combined, corresponding optimization control is provided for differential steering in different modes, and compared with an existing conventional control method, the control method has the advantages of being high in response speed and safety.

Description

Technical Field

[0001] The present invention relates to the field of multi-wheel independently driven unmanned platform control, and in particular to a multi-wheel independently driven differential control method, system and terminal equipment. Background Art

[0002] Multi-wheeled independently driven unmanned platforms have been increasingly widely used in military, industrial and other fields due to their compact structure, light weight and strong adaptability. Conventional unmanned vehicles use mechanical steering mechanisms, which can achieve a similar mechanical linkage steering effect as ordinary passenger cars. However, since the mechanical steering mechanism layout will occupy a large chassis space, it has a great impact on the platform's loading capacity and overall solution layout.

[0003] Therefore, a differential steering control system that replaces the mechanical steering mechanism realizes the steering control requirements of the entire platform only through the speed difference between the wheels, achieving the same effect as the mechanical steering function, while occupying a smaller space volume, which is of great significance to the lightweight and intelligent development of unmanned platforms. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a differential control method, system and terminal device for multi-wheel independent drive in view of the shortcomings of the existing technology, and to provide corresponding optimized control for differential steering in different modes.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a differential control method for multi-wheel independent drive, comprising the following steps:

[0006] S1. Analyze the control command and obtain the control instruction;

[0007] S2, determining whether there is a steering command request in the control instruction;

[0008] If so, determine whether there is a straight-ahead speed or a straight-ahead command request in the current state; if there is a straight-ahead speed or a straight-ahead command request, superimpose the received straight-ahead command request or the current straight-ahead speed and the steering command request to obtain the target control speed of each driving wheel, and output it to each driving wheel to execute the driving differential steering control command; if there is no straight-ahead speed or a straight-ahead command request, distribute the received steering command request to obtain the target control speed of each driving wheel, and output it to each driving wheel to execute the in-situ differential steering control command;

[0009] Otherwise, determine whether there is a straight-ahead command request in the control instruction. If there is a straight-ahead command request, send a brake release command to each brake to release the braking state of each drive wheel; send a walking drive command to each drive wheel to control the rotation of each drive wheel; if there is no straight-ahead command request, send a stop command to each drive wheel and brake to keep the unmanned platform in a stopped state.

[0010] Aiming at the differential steering working conditions of unmanned platforms, the present invention realizes automatic identification of various working conditions and differential steering control. Meanwhile, combined with system safety control, corresponding optimization control is given to differential steering in different modes. Compared with existing conventional control methods, the present invention has the characteristics of fast response speed and high safety.

[0011] In the present invention, after superimposing the received straight-ahead command request or the current straight-ahead speed and the steering command request, the target control speed calculation formula of each driving wheel is:

[0012]

[0013] Among them, V1, V2, V3, V4, V5, and V6 are the speeds of the left front wheel, the right front wheel, the left middle wheel, the right middle wheel, the left rear wheel, and the right rear wheel, respectively. ΔV i * is the corrected differential value component, i=1,2,3,4,5,6, f is the differential correction coefficient, V c is the differential control value, S0 is the current control value, S is the full-scale control value of the steering handle or steering wheel, V0 is the straight-line speed, R i It is the distance corresponding to the relative turning center of each driving wheel.

[0014] ΔV i * =ΔV i *f; where

[0015] ΔV L =ΔV R =ΔV n / 2,ΔV n =S0 / S*V c .

[0016] f=μ*β0 / β; where μ is the correction coefficient, β is the maximum allowable sideslip angle of the center of mass of the multi-wheel drive platform, and β0 is the current sideslip angle of the center of mass of the multi-wheel drive platform.

[0017] After allocating the received steering command request, the target control speed of each driving wheel is calculated as follows:

[0018]

[0019]

[0020] Among them, V1, V2, V3, V4, V5, and V6 are the speeds of the left front wheel, the right front wheel, the left middle wheel, the right middle wheel, the left rear wheel, and the right rear wheel, respectively. ΔV i *is the corrected differential value component, i = 1, 2, 3, 4, 5, 6, ε is the proportional coefficient, β is the maximum allowable side slip angle of the center of mass of the multi-wheel drive platform, β0 is the current side slip angle of the center of mass of the multi-wheel drive platform, V c is the differential control value, S0 is the current control amount, the center position of the handle or steering wheel is taken as 0 point, S0 on the left side of 0 point is negative, and S0 on the right side of 0 point is positive, and S is the full-scale control amount of the steering handle or steering wheel.

[0021] ΔV1 * , ΔV2 * , ΔV3 * , ΔV4 * , ΔV5 * , ΔV6 * The expression is:

[0022]

[0023] Where k = ε*β0 / β.

[0024] As an inventive concept, the present invention also provides a multi-wheel independently driven differential control system, which includes:

[0025] The parsing module is used to parse the control command and obtain the control instruction;

[0026] A first judgment module is used to judge whether there is a turning command request in the control instruction, and if so, to judge whether there is a straight-ahead speed or a straight-ahead command request in the current state;

[0027] A first processing unit is used for, when the first judgment module determines that there is a straight-moving speed or a straight-moving command request, superimposing the received straight-moving command request or the current straight-moving speed with the steering command request, obtaining a target control speed of each driving wheel, and outputting the target control speed to each driving wheel to execute a driving differential steering control command;

[0028] A second processing unit is used to allocate the received steering command request when the first judgment module determines that there is no straight-ahead speed or straight-ahead command request, obtain the target control speed of each driving wheel, and output to each driving wheel to execute an in-situ differential steering control command;

[0029] A second judgment module is used to judge whether there is a straight-ahead command request in the control instruction when there is no turning command request in the control instruction;

[0030] The third processing unit is used to send a brake release command to each brake to release the braking state of each driving wheel when the second judgment module determines that there is a straight-ahead command request; send a travel drive command to each driving wheel to control the rotation of each driving wheel;

[0031] The fourth processing unit is used to send a stop command to each driving wheel and brake to keep the unmanned platform in a stopped state when the second judgment module determines that there is no straight-moving command request.

[0032] The target control speed expression of each driving wheel calculated by the first processing unit is:

[0033]

[0034] Among them, V1, V2, V3, V4, V5, and V6 are the speeds of the left front wheel, the right front wheel, the left middle wheel, the right middle wheel, the left rear wheel, and the right rear wheel, respectively. ΔV i * is the corrected differential value component, i=1,2,3,4,5,6, f is the differential correction coefficient, V c is the differential control value, S0 is the current control value, and S is the full-scale control value of the steering handle or steering wheel.

[0035] The target control speed expression of each driving wheel calculated by the second processing unit is:

[0036]

[0037] Among them, V1, V2, V3, V4, V5, and V6 are the speeds of the left front wheel, the right front wheel, the left middle wheel, the right middle wheel, the left rear wheel, and the right rear wheel, respectively. ΔV i * is the corrected differential value component, i = 1, 2, 3, 4, 5, 6, ε is the proportional coefficient, β is the maximum allowable side slip angle of the center of mass of the multi-wheel drive platform, β0 is the current side slip angle of the center of mass of the multi-wheel drive platform, V c is the differential control value, S0 is the current control value, and S is the full-scale control value of the steering handle or steering wheel.

[0038] As an inventive concept, the present invention also provides a terminal device, including a memory, a processor and a computer program stored in the memory; the processor executes the computer program in the memory to implement the steps of the above method.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1. The present invention realizes the steering control requirements of the entire platform only through the speed difference between each wheel, achieving the same control effect as a vehicle with a mechanical steering function, while occupying a smaller space volume.

[0041] 2. The control method of the present invention is aimed at the differential steering working conditions of unmanned platforms, and completes the automatic identification of various working conditions and the realization of differential steering control. At the same time, combined with system safety control, corresponding optimization control is given to the differential steering in different modes. Compared with the existing conventional control methods, it has the characteristics of fast response speed and high safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a flow chart of a method according to an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of the speed difference distribution ratio of an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of the synthesis principle of the driving differential steering speed according to an embodiment of the present invention;

[0045] Figure 4 The figure is a schematic diagram of the in-situ differential steering speed (right turn) of an embodiment of the present invention;

[0046] Figure 5 This is a control system block diagram of an embodiment of the present invention;

[0047] Figure 6 This is a system configuration diagram of an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Example 1

[0050] The present embodiment provides a differential control method for multi-wheel independent drive, and the control method includes: when the control system receives a steering control command issued by the control end, the program will determine whether the current steering condition belongs to an unmanned platform steering differential control request under a driving steering condition, or an in-situ steering differential control request under a condition without a driving command; based on the judgment result, the rotation speed of each driving wheel is adjusted according to a preset control strategy, so that the platform completes the differential steering action.

[0051] Specifically, how to distinguish which control mode the control command corresponds to is based on the key identification factors including steering command request, straight command request, current straight speed, etc. Figure 1 As shown:

[0052] S301: The control system receives the control command and parses it into corresponding control instructions according to the protocol rules: steering command, straight driving command, etc.;

[0053] S302: First, the steering command parsed in step S301 is judged to confirm whether there is a steering command request in the current control instruction. If so, the judgment of whether there is a straight-ahead speed in step S306 is executed; otherwise, the judgment process of whether there is a straight-ahead command request in step S303 is executed;

[0054] S303: Determine whether there is a straight-line command request in the current control instruction, if yes, execute the straight-line driving control strategy in step S305, otherwise execute the stop control strategy in step S304;

[0055] S304: The control system sends a stop command to each driving wheel, brake and other actuators to keep the unmanned platform in a stopped state;

[0056] S305: The control system sends a brake release command to each brake to release the braking state of each driving wheel; sends a travel drive command to each driving wheel to control each wheel to rotate according to the preset strategy requirements of the program;

[0057] S306: The control system monitors the platform's straight-moving speed parameters in real time, and determines whether there is a straight-moving speed or a straight-moving command request in the current state. If so, the driving differential steering control strategy in step S307 is executed; otherwise, the in-situ differential steering control strategy in step S308 is executed;

[0058] S307: The control system superimposes the received straight-moving command request or the current straight-moving speed with the steering command request according to the preset control strategy 1 to obtain the target control speed of each driving wheel, and outputs the target control speed to each driving wheel to execute the driving differential steering control command;

[0059] S308: The control system processes and distributes the received steering command request according to the preset control strategy 2, obtains the target control speed of each driving wheel, and outputs it to each driving wheel to execute the in-situ differential steering control command.

[0060] Control strategy 1: According to the steering control command of the control end, the steering amplitude is calculated according to the steering handle or steering wheel control angle, and the required differential steering value of the platform is calculated in proportion. Combined with the distance of each driving wheel relative to the rotation center O, the increase or decrease ratio of each wheel speed difference is calculated on the premise of meeting the platform differential steering requirements. Based on the straight speed control target value, the increase or decrease ratio of the speed difference of each wheel is superimposed respectively to obtain the target driving speed of each wheel under the driving differential steering control condition.

[0061] For the above control strategy 1, a specific implementation method is given below, and the method is as follows:

[0062] The full-scale control value of the steering handle or steering wheel is S, and the corresponding differential control value is V c ; The current control amount is S0, with the center of the handle or steering wheel as the 0 point, and the sign is negative on the left and positive on the right;

[0063] Then the current steering control target differential value △V can be obtained n :ΔV n =S0 / S*V c ;

[0064] According to the geometric relationship of the unmanned platform, the differential value is evenly distributed to the left and right wheels, and the differential value of the wheels on one side is:

[0065] ΔV L =ΔV R =ΔV n / 2;

[0066] Based on the relationship between the single-side wheel differential and the differential of each wheel, the differential equation of each wheel can be obtained:

[0067]

[0068] According to the driving steering, it can be decomposed into the steering principle around the platform center at each moment, and the single-side differential value is decomposed to each driving wheel to obtain the differential value component of each driving wheel on the left, such as Figure 2 and Figure 3 As shown:

[0069]

[0070] Similarly, the differential value components of each driving wheel on the right can be obtained:

[0071]

[0072] For a multi-wheel drive platform without mechanical steering, when turning at high speed and with large amplitude, the center of mass slip angle is too large, which may cause the vehicle to tilt and even roll over in serious cases. Considering the influence of the center of mass slip angle on the safety control of the differential value component, the differential correction coefficient is set to f, and the corrected differential value component ΔV i * :

[0073] ΔV i * =ΔV i *fi=1,2,3,4,5,6;

[0074] in:

[0075] f = μ*β0 / β;

[0076] μ is the correction coefficient, which is related to the lateral stability of the platform. β is the maximum allowable sideslip angle of the center of mass of the platform. Both μ and β are design values. β0 is the current sideslip angle of the center of mass of the platform, which can be measured by inertial navigation.

[0077] Based on the above-obtained differential speed components of each wheel, combined with the current platform straight-line driving speed value, the relationship between the target speed of each wheel and the control amount of the handle or steering wheel when the platform is driving differential steering can be obtained (taking six-wheel drive as an example):

[0078] Left front wheel speed:

[0079] Right front wheel speed:

[0080] Left middle wheel speed:

[0081] Right middle wheel speed:

[0082] Left rear wheel speed:

[0083] Right rear wheel speed:

[0084] V0 is the straight-line speed, R i It is the distance corresponding to the relative turning of each driving wheel. For example, R1 is the distance between the left front wheel landing point and the rotation center O.

[0085] Control strategy 2: According to the steering control command of the control end, the steering amplitude is calculated according to the steering handle or steering wheel control angle, and the required differential steering value of the platform is calculated in proportion. Combined with the distance of each driving wheel relative to the rotation center O, the increase or decrease ratio of each wheel speed difference is calculated on the premise of meeting the platform differential steering requirements. Based on zero speed, the increase or decrease ratio of the speed difference of each wheel is superimposed respectively to obtain the target driving speed of each wheel under the in-situ differential steering control condition.

[0086] For the above control strategy 2, a specific implementation method is given below:

[0087] The solution process is the same as that of control strategy 1, and ΔV1 is obtained * , ΔV2 * , ΔV3 * , ΔV4 * , ΔV5 * , ΔV6 * expression:

[0088]

[0089] in:

[0090] k = ε*β0 / β;

[0091] ε is the proportional coefficient, which is inversely proportional to the control amplitude of the handle or steering wheel, and realizes the smooth processing function of platform control; β is the maximum allowable sideslip angle of the center of mass of the platform design, which is the design value; β0 is the current sideslip angle of the center of mass of the platform, which can be measured by inertial navigation.

[0092] Based on the above-obtained differential components of each wheel, the relationship between the target speed of each wheel and the control amount of the handle or steering wheel when the platform is in-situ differential steering can be obtained (taking six-wheel drive as an example), as follows: Figure 4 As shown:

[0093] Left front wheel speed:

[0094] Right front wheel speed:

[0095] Left middle wheel speed:

[0096] Right middle wheel speed:

[0097] Left rear wheel speed:

[0098] Right rear wheel speed:

[0099] Auxiliary technologies such as closed-loop control of the speed of each wheel, fault status monitoring, etc. related to the control method of the above-mentioned embodiment 1 are basic control functions of motor control, which are all implemented by motor-related manufacturers. In addition, no other control is required to cooperate with the embodiment of the present invention to implement the control method.

[0100] Example 2

[0101] like Figure 5 and Figure 6 As shown, this embodiment provides a multi-wheel independent drive electronic differential control system, including:

[0102] A control terminal used to issue control commands;

[0103] A control system for receiving and processing control commands;

[0104] Multi-wheel actuator for achieving independent driving;

[0105] A sensor system used to provide feedback on the platform's operating status.

[0106] The control end is usually a control system composed of steering wheel, accelerator pedal, brake pedal and other manned online operation methods, or it can be an unmanned wireless control system composed of control handles, buttons, wireless transceivers, etc. The system can complete the control command collection of the operator and display the operating parameters fed back by the platform to the operator, realizing the function of human-computer interaction.

[0107] The controller chip of the control system adopts a microprocessor chip such as PLC and DSP, and stores the control strategy or control method described in the present invention in the form of program code. The function of the controller is to receive the control command issued by the control end, and the stored control program makes a corresponding analysis of the received control command according to the control protocol, and outputs the control signal to the controlled actuator according to the program control strategy; the controller also receives the current system state parameters fed back by the sensor system, and automatically adjusts the control output in combination with the control command, state parameters and control strategy to realize real-time dynamic control and adjustment of the output.

[0108] The control system includes the following modules:

[0109] The parsing module is used to parse the control command and obtain the control instruction;

[0110] A first judgment module is used to judge whether there is a steering command request in the control instruction, and if so, to judge whether there is a straight-ahead speed or a straight-ahead command request in the current state;

[0111] A first processing unit is used for, when the first judgment module determines that there is a straight-moving speed or a straight-moving command request, superimposing the received straight-moving command request or the current straight-moving speed with the steering command request, obtaining a target control speed of each driving wheel, and outputting the target control speed to each driving wheel to execute a driving differential steering control command;

[0112] A second processing unit is used to distribute the received steering command request when the first judgment module determines that there is no straight-ahead speed or straight-ahead command request, obtain the target control speed of each driving wheel, and output to each driving wheel to execute an in-situ differential steering control command;

[0113] A second judgment module is used to judge whether there is a straight-ahead command request in the control instruction when there is no turning command request in the control instruction;

[0114] The third processing unit is used to send a brake release command to each brake to release the braking state of each driving wheel when the second judgment module determines that there is a straight-ahead command request; send a travel drive command to each driving wheel to control the rotation of each driving wheel;

[0115] The fourth processing unit is used to send a stop command to each driving wheel and brake to keep the unmanned platform in a stopped state when the second judgment module determines that there is no straight-moving command request.

[0116] The actuators include a left front drive motor and brake, a left middle drive motor and brake, a left rear drive motor and brake, a right front drive motor and brake, a right middle drive motor and brake, and a right rear drive motor and brake; the platform realizes straight driving, steering, reversing and other actions through the driving or braking control of each wheel, and each drive motor and brake can act independently without affecting each other.

[0117] The sensing system includes speed sensors, current sensors, temperature sensors for the left front / right front / left center / right center / left rear / right rear drive motors, and inertial navigation for feedback of the platform attitude. The speed sensor is used to detect the speed of the drive motor, and at the same time, combined with the comparison of the platform movement speed detected by the inertial navigation, the slip / slip rate of each wheel is obtained; the current sensor can be converted into the motor torque value through calculation; the temperature sensor is used to monitor whether the motor operating status is within the normal temperature range for safety monitoring; the inertial navigation monitors the platform roll angle, angular acceleration, vehicle speed and other information, which is used to judge the platform movement status and stability judgment.

[0118] In this embodiment, the multi-wheeled unmanned platform can be a multi-wheeled unmanned platform composed of various forms such as 4 wheels, 6 wheels, and 8 wheels. The multi-wheel drive actuator can be an electric drive, or a hydraulic drive or the like. The control instruction can be a steering ratio opening instruction, or a target steering angle or steering angular velocity instruction, etc., which is used to control the steering amplitude or speed.

[0119] Example 3

[0120] Embodiment 3 of the present invention provides a terminal device corresponding to the above-mentioned embodiment 1. The terminal device may be a processing device for a client, such as a mobile phone, a laptop computer, a tablet computer, a desktop computer, etc., to execute the method of the above-mentioned embodiment.

[0121] The terminal device of this embodiment includes a memory, a processor, and a computer program stored in the memory; the processor executes the computer program in the memory to implement the steps of the method in the above-mentioned embodiment 1.

[0122] In some implementations, the memory may be a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory.

[0123] In some other implementations, the processor may be a central processing unit (CPU), a digital signal processor (DSP), or other general-purpose processors of various types, which are not limited herein.

[0124] Example 4

[0125] Embodiment 4 of the present invention provides a computer-readable storage medium corresponding to the above embodiment 1, on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, the steps of the method of the above embodiment 1 are implemented.

[0126] Computer readable storage media can be tangible devices that hold and store instructions used by instruction execution devices. Computer readable storage media can be, for example, but not limited to, electronic storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any combination thereof.

[0127] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0128] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, 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 generate 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 flowchart and / or block diagram. 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.

[0129] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0130] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0131] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A differential control method for multi-wheel independent drive, characterized in that: The following steps are involved: S1. Analyze the control command and obtain the control instruction; S2, determining whether there is a steering command request in the control instruction; If so, determine whether there is a straight-ahead speed or a straight-ahead command request in the current state; if there is a straight-ahead speed or a straight-ahead command request, superimpose the received straight-ahead command request or the current straight-ahead speed and the steering command request to obtain the target control speed of each driving wheel, and output it to each driving wheel to execute the driving differential steering control command; if there is no straight-ahead speed or a straight-ahead command request, distribute the received steering command request to obtain the target control speed of each driving wheel, and output it to each driving wheel to execute the in-situ differential steering control command; Otherwise, determine whether there is a straight-ahead command request in the control instruction. If there is a straight-ahead command request, send a brake release command to each brake to release the braking state of each drive wheel; send a walking drive command to each drive wheel to control the rotation of each drive wheel; if there is no straight-ahead command request, send a stop command to each drive wheel and brake to keep the unmanned platform in a stopped state.

2. The differential speed control method for multi-wheel independent drive according to claim 1, characterized in that: After superimposing the received straight-ahead command request or the current straight-ahead speed and the steering command request, the target control speed calculation formula of each driving wheel is: Among them, V1, V2, V3, V4, V5, and V6 are the speeds of the left front wheel, the right front wheel, the left middle wheel, the right middle wheel, the left rear wheel, and the right rear wheel, respectively. ΔV i * is the corrected differential value component, i=1,2,3,4,5,6, f is the differential correction factor, V c is the differential control value, S0 is the current control value, and S is the full-scale control value of the steering handle or steering wheel.

3. The differential speed control method for multi-wheel independent drive according to claim 2, characterized in that: ΔV i * =ΔV i *f; where ΔV L =ΔV R =ΔV n / 2,ΔV n =S0 / S*V c 。 4. The differential speed control method for multi-wheel independent drive according to claim 2, characterized in that: f=μ*β0 / β; where μ is the correction coefficient, β is the maximum allowable sideslip angle of the center of mass of the multi-wheel drive platform, and β0 is the current sideslip angle of the center of mass of the multi-wheel drive platform.

5. The differential speed control method for multi-wheel independent drive according to claim 1, characterized in that: After allocating the received steering command request, the target control speed of each driving wheel is calculated as follows: Among them, V1, V2, V3, V4, V5, and V6 are the speeds of the left front wheel, the right front wheel, the left middle wheel, the right middle wheel, the left rear wheel, and the right rear wheel, respectively. ΔV i * is the corrected differential value component, i=1,2,3,4,5,6, ε is the proportional coefficient, β is the maximum allowable side slip angle of the center of mass of the multi-wheel drive platform, β0 is the current side slip angle of the center of mass of the multi-wheel drive platform, V c is the differential control value, S0 is the current control value, and S is the full-scale control value of the steering handle or steering wheel.

6. The differential speed control method for multi-wheel independent drive according to claim 5, characterized in that: ΔV1 * , ΔV2 * , ΔV3 * , ΔV4 * , ΔV5 * , ΔV6 * The expression is: Where k = ε*β0 / β.

7. A multi-wheel independently driven differential control system, characterized in that: include: The parsing module is used to parse the control command and obtain the control instruction; A first judgment module is used to judge whether there is a turning command request in the control instruction, and if so, to judge whether there is a straight-ahead speed or a straight-ahead command request in the current state; A first processing unit is used for, when the first judgment module determines that there is a straight-moving speed or a straight-moving command request, superimposing the received straight-moving command request or the current straight-moving speed with the steering command request, obtaining a target control speed of each driving wheel, and outputting the target control speed to each driving wheel to execute a driving differential steering control command; A second processing unit is used to distribute the received steering command request when the first judgment module determines that there is no straight-ahead speed or straight-ahead command request, obtain the target control speed of each driving wheel, and output to each driving wheel to execute an in-situ differential steering control command; A second judgment module is used to judge whether there is a straight-ahead command request in the control instruction when there is no turning command request in the control instruction; The third processing unit is used to send a brake release command to each brake to release the braking state of each driving wheel when the second judgment module determines that there is a straight-moving command request; send a walking drive command to each driving wheel to control the rotation of each driving wheel; The fourth processing unit is used to send a stop command to each driving wheel and brake to keep the unmanned platform in a stopped state when the second judgment module determines that there is no straight-moving command request.

8. The multi-wheel independent drive differential control system according to claim 7, characterized in that: The target control speed expression of each driving wheel calculated by the first processing unit is: Among them, V1, V2, V3, V4, V5, and V6 are the speeds of the left front wheel, the right front wheel, the left middle wheel, the right middle wheel, the left rear wheel, and the right rear wheel, respectively. ΔV i * is the corrected differential value component, i=1,2,3,4,5,6, f is the differential correction factor, V c is the differential control value, S0 is the current control value, the handle or steering wheel center is 0, S0 on the left side of 0 is negative, S0 on the right side of 0 is positive, S is the full-scale control value of the steering handle or steering wheel, V0 is the straight speed, R i It is the distance corresponding to the relative turning center of each driving wheel.

9. The multi-wheel independent drive differential control system according to claim 7, characterized in that: The target control speed expression of each driving wheel calculated by the second processing unit is: Among them, V1, V2, V3, V4, V5, and V6 are the speeds of the left front wheel, the right front wheel, the left middle wheel, the right middle wheel, the left rear wheel, and the right rear wheel, respectively. ΔV i * is the corrected differential value component, i=1,2,3,4,5,6, ε is the proportional coefficient, β is the maximum allowable side slip angle of the center of mass of the multi-wheel drive platform, β0 is the current side slip angle of the center of mass of the multi-wheel drive platform, V c is the differential control value, S0 is the current control amount, the center position of the handle or steering wheel is taken as 0 point, S0 on the left side of 0 point is negative, and S0 on the right side of 0 point is positive, and S is the full-scale control amount of the steering handle or steering wheel.

10. A terminal device comprising a memory, a processor and a computer program stored in the memory; characterized in that: The processor executes the computer program in the memory to implement the steps of the method according to any one of claims 1 to 6.

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