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

Abstract

The application provides a differential control method, system and terminal equipment of multi-wheel independent driving, when the control system receives the steering control command issued by the operation end, the program will judge whether the current steering working condition is the unmanned platform steering differential control request under the driving steering working condition or the in-place steering differential control request under the no driving command working condition; according to the judgment result, the speed of each driving wheel is adjusted according to the preset control strategy, so that the platform completes the differential steering action. The control method of the application completes the automatic identification of each working condition and the realization of differential steering control for the differential steering working condition of the unmanned platform, and gives the corresponding optimization control for the differential steering under different modes in combination with the system safety control. Compared with the existing conventional control method, the application has the characteristics of fast response speed and high safety.

Description

Technical Field

[0001] This invention relates to the field of multi-wheeled independent drive unmanned platform control, and in particular to a differential control method, system and terminal equipment for multi-wheeled independent drive. Background Technology

[0002] Multi-wheeled independent drive unmanned platforms are increasingly widely used in military and industrial fields due to their advantages such as compact structure, light weight, and strong adaptability. Conventional unmanned vehicles use mechanical steering mechanisms, which can achieve a similar effect to mechanical linkage steering in ordinary passenger cars. However, the arrangement of mechanical steering mechanisms occupies a large amount of chassis space, which has a significant impact on the platform's load capacity and overall layout.

[0003] Therefore, a differential steering control system that replaces the mechanical steering mechanism can achieve the steering control requirements of the entire platform by only using the speed difference between each wheel, achieving the same effect as mechanical steering, while occupying a smaller space volume. This is of great significance for the lightweighting and intelligence 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, which provides corresponding optimized control for differential steering in different modes, in order to address the shortcomings of the existing technology.

[0005] To solve the above-mentioned 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. Parse the control commands to obtain control instructions;

[0007] S2. Determine whether there is a steering command request in the control command;

[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 with the steering command request to obtain the target control speed of each drive wheel, and output it to each drive wheel to execute the driving differential steering control command; if there is no straight-ahead speed or a straight-ahead command request, allocate the received steering command request, obtain the target control speed of each drive wheel, and output it to each drive wheel to execute the stationary differential steering control command.

[0009] Otherwise, determine whether there is a straight-ahead command request in the control instructions. If there is a straight-ahead command request, send a release brake command to each brake to release the braking state of each drive wheel; send a travel 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] This invention addresses the differential steering conditions of unmanned platforms, achieving automatic identification and differential steering control for various operating conditions. Simultaneously, it integrates system safety control, providing corresponding optimized control for differential steering under different modes. Compared to existing conventional control methods, it features fast response speed and high safety.

[0011] In this invention, after superimposing the received straight-ahead command request or the current straight-ahead speed and steering command request, the target control speed calculation formula for each drive wheel is as follows:

[0012]

[0013] Where V1, V2, V3, V4, V5, and V6 are the speeds of the left front wheel, right front wheel, left middle wheel, right middle wheel, left rear wheel, and right rear wheel, respectively, and ΔV i * The corrected differential speed components are i = 1, 2, 3, 4, 5, 6, f is the differential speed correction coefficient, and V c For differential control, 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, and R... i This corresponds to the distance between the drive wheels during relative steering.

[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 multi-wheel drive platform design, and β0 is the current sideslip angle of the multi-wheel drive platform.

[0017] After receiving the steering command request, the formula for calculating the target control speed of each drive wheel is as follows:

[0018]

[0019]

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

[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 independent drive differential control system, which includes:

[0025] The parsing module is used to parse control commands and obtain control instructions;

[0026] The first judgment module is used to determine whether there is a turning command request in the control command. If so, it determines whether there is a straight speed or a straight command request in the current state.

[0027] The first processing unit is used to, when the first judgment module determines that there is a straight-going speed or a straight-going command request, superimpose the received straight-going command request or the current straight-going speed and the steering command request to obtain the target control speed of each drive wheel, and output it to each drive wheel to execute the driving differential steering control command.

[0028] The second processing unit is used to allocate the received steering command request, obtain the target control speed of each drive wheel, and output the stationary differential steering control command to each drive wheel when the first judgment module determines that there is no straight-going speed or straight-going command request.

[0029] The second judgment module is used to determine whether there is a straight-ahead command request in the control command when there is no steering command request in the control command;

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

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

[0032] The target control speed expression for each drive wheel calculated by the first processing unit is as follows:

[0033]

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

[0035] The target control speed expression for each drive wheel calculated by the second processing unit is as follows:

[0036]

[0037] Where V1, V2, V3, V4, V5, and V6 are the speeds of the left front wheel, right front wheel, left middle wheel, right middle wheel, left rear wheel, and right rear wheel, respectively, and ΔV i * The corrected differential speed components are i = 1, 2, 3, 4, 5, 6, ε is the proportional coefficient, β is the maximum allowable sideslip angle of the multi-wheel drive platform design, β0 is the current sideslip angle of the multi-wheel drive platform, and V c S0 is the differential control value, S0 is the current control quantity, and S is the full-scale control quantity 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 beneficial effects of the present invention are as follows:

[0040] 1. This invention achieves the steering control requirements of the entire platform by only using the speed difference between each wheel, achieving the same control effect as a vehicle with mechanical steering function, while occupying a small space volume.

[0041] 2. The control method of this invention is designed for differential steering conditions of unmanned platforms. It achieves automatic identification of various working conditions and differential steering control. At the same time, combined with system safety control, it provides corresponding optimized control for differential steering in different modes. Compared with existing conventional control methods, it has the characteristics of fast response speed and high safety. Attached Figure Description

[0042] Figure 1 This is a flowchart 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 in an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram illustrating the principle of differential steering speed synthesis in an embodiment of the present invention.

[0045] Figure 4 This is a schematic diagram of the differential steering speed in place (right turn) according to an embodiment of the present invention;

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

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

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] Example 1

[0050] This embodiment provides a differential control method for multi-wheel independent drive. The control method includes: when the control system receives a steering control command from the control terminal, the program will determine whether the current steering condition is a steering differential control request for an unmanned platform under driving steering condition or a stationary steering differential control request under no driving command condition; based on the determination result, the speed of each drive wheel is adjusted according to a preset control strategy so that the platform completes the differential steering action.

[0051] Specifically, the key identification factors for distinguishing which control mode a control command corresponds to include steering command requests, straight-ahead command requests, and current straight-ahead speed, etc., are logically differentiated. The specific process is as follows: 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-ahead command, etc.

[0053] S302: First, judge the steering command parsed in step S301 to confirm whether there is a steering command request in the current control command. If so, execute the judgment on whether there is a straight speed in step S306; otherwise, execute the judgment process on whether there is a straight command request in step S303.

[0054] S303: Determine if there is a straight-line command request in the current control command. If so, 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 stop commands to each drive wheel, brake and other actuators to keep the unmanned platform in a stopped state;

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

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

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

[0059] S308: The control system processes and distributes the received steering command requests according to the preset control strategy two, obtains the target control speed of each drive wheel, and outputs the stationary differential steering control command to each drive wheel.

[0060] Control Strategy 1: Based on the steering control commands from the control terminal, the steering amplitude is proportionally calculated according to the steering handle or steering wheel control angle. The required differential steering value for the platform is then calculated, taking into account the distance of each drive wheel relative to the rotation center O. This calculation determines the percentage increase or decrease in the speed difference between each drive wheel while meeting the platform's differential steering requirements. Using the straight-line speed control target value as a base, the percentage increase or decrease in the speed difference for each wheel is superimposed to obtain the target drive speed for each wheel under differential steering control conditions.

[0061] For the control strategy one described above, a specific implementation method is given below:

[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 quantity is S0, with the center position 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 target differential value △V for the current steering control can be obtained. n ΔV n =S0 / S*V c ;

[0064] Based on the geometry of the unmanned platform, the differential speed is evenly distributed to the left and right wheels. Therefore, the differential speed value for a single wheel is:

[0065] ΔV L =ΔV R =ΔV n / 2;

[0066] From the relationship between the differential speed of one side of the wheel and the differential speeds of each wheel, the equations for the differential speeds of each wheel can be obtained:

[0067]

[0068] Based on the driving and steering principle, it can be decomposed into the steering around the platform center at each moment. The differential value on one side is then decomposed to each drive wheel, resulting in the differential value components of each drive wheel on the left side, such as... Figure 2 and Figure 3 As shown:

[0069]

[0070] Similarly, the differential speed components of each drive wheel on the right side can be obtained:

[0071]

[0072] Multi-wheel drive platforms without mechanical steering can experience excessive sideslip angles during high-speed, sharp turns, leading to vehicle rollover and, in severe cases, overturning. Considering the impact of sideslip angles on the safety control of the differential component, a differential correction coefficient of f is set. The corrected differential component ΔV is then... i * :

[0073] ΔV i * =ΔV i *fi = 1, 2, 3, 4, 5, 6;

[0074] in:

[0075] f = μ*β0 / β;

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

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

[0078] Left front wheel speed:

[0079] Right front wheel speed:

[0080] Left and middle wheel speed:

[0081] Right center wheel speed:

[0082] Left rear wheel speed:

[0083] Right rear wheel speed:

[0084] V0 is the straight-line speed, R i This corresponds to the distance between each drive wheel during steering. For example, R1 is the distance between the contact point of the left front wheel and the rotation center O.

[0085] Control Strategy Two: Based on the steering control commands from the control terminal, the steering amplitude is proportionally calculated according to the steering handle or steering wheel control angle. The required differential steering value for the platform is then calculated, taking into account the distance of each drive wheel relative to the rotation center O. This calculation determines the percentage increase or decrease in the speed difference between each drive wheel while meeting the platform's differential steering requirements. Starting from zero speed, the percentage increases or decreases in the speed difference of each wheel are superimposed to obtain the target drive speed for each wheel under stationary differential steering control conditions.

[0086] Regarding the second control strategy described above, a specific implementation method is given below:

[0087] The solution process is the same as that for control strategy one, yielding ΔV1. * ΔV2 * ΔV3 * ΔV4 * ΔV5 * ΔV6 * expression:

[0088]

[0089] in:

[0090] k = ε*β0 / β;

[0091] ε is a proportionality coefficient, which is inversely proportional to the control range of the handle or steering wheel, to achieve smooth platform control; β is the maximum allowable sideslip angle of the platform's center of gravity, which is the design value; β0 is the current sideslip angle of the platform's center of gravity, which can be measured by inertial navigation.

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

[0093] Left front wheel speed:

[0094] Right front wheel speed:

[0095] Left and middle wheel speed:

[0096] Right center wheel speed:

[0097] Left rear wheel speed:

[0098] Right rear wheel speed:

[0099] The auxiliary technologies related to the control method of Embodiment 1 above, such as closed-loop control of wheel speeds and fault status monitoring, are the basic control functions of motor control. They are all implemented by the motor manufacturers. Apart from these, no other control is required to cooperate with the embodiments of the present invention to realize 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] The control terminal used to issue control commands;

[0103] A control system used to receive and process control commands;

[0104] Used to implement independently driven multi-wheel actuators;

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

[0106] The control terminal typically consists of a human-operated system using a steering wheel, accelerator pedal, brake pedal, etc., or it can be an unmanned wireless control system consisting of a control handle, buttons, and a wireless transceiver. The system can collect the operator's control commands and display the operating parameters fed back from the platform to the operator, realizing human-machine interaction.

[0107] The controller chip of the control system uses microprocessor chips such as PLC and DSP to store the control strategy or control method described in this invention in the form of program code. The controller's function is to receive control commands issued by the control terminal, and the stored control program parses the received control commands according to the control protocol, and outputs control signals to the controlled actuators according to the program control strategy. The controller also receives the current system status parameters fed back by the sensing system, and automatically adjusts the control output in combination with the control commands, status parameters and control strategy to achieve 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 control commands and obtain control instructions;

[0110] The first judgment module is used to determine whether there is a turning command request in the control instructions. If so, it determines whether there is a straight speed or a straight command request in the current state.

[0111] The first processing unit is used to, when the first judgment module determines that there is a straight-going speed or a straight-going command request, superimpose the received straight-going command request or the current straight-going speed and the steering command request to obtain the target control speed of each drive wheel, and output it to each drive wheel to execute the driving differential steering control command.

[0112] The second processing unit is used to allocate the received steering command request, obtain the target control speed of each drive wheel, and output the stationary differential steering control command to each drive wheel when the first judgment module determines that there is no straight-going speed or straight-going command request.

[0113] The second judgment module is used to determine whether there is a straight-ahead command request in the control command when there is no steering command request in the control command;

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

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

[0116] The actuators include the left front drive motor and brake, the left center drive motor and brake, the left rear drive motor and brake, the right front drive motor and brake, the right center drive motor and brake, and the right rear drive motor and brake. The platform achieves straight-line, steering, and reversing actions through the drive or braking control of each wheel. Each drive motor and brake can operate independently without affecting each other.

[0117] The sensing system comprises speed sensors, current sensors, and temperature sensors for the left front / right front / left center / right center / left rear / right rear drive motors, as well as an inertial navigation system (INS) for feedback on the platform's attitude. The speed sensors detect the drive motor speeds and, combined with the platform's movement speed detected by the INS, determine the slip / slip ratio of each wheel. The current sensors can be calculated and converted into motor torque values. The temperature sensors monitor whether the motors are operating within the normal temperature range, serving a safety monitoring purpose. The INS monitors the platform's tilt angle, angular acceleration, and vehicle speed, used to determine the platform's motion state and stability.

[0118] In this embodiment, the multi-wheeled unmanned platform can be configured with 4 wheels, 6 wheels, 8 wheels, or other configurations. The multi-wheel drive actuator can be electrically driven, hydraulically driven, or similar. The control commands can be steering ratio opening commands, or target steering angle or steering angular velocity commands, etc., used to control the steering amplitude or speed.

[0119] Example 3

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

[0121] The terminal device in 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 Embodiment 1 described above.

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

[0123] In other implementations, the processor can be any type of general-purpose processor, such as a central processing unit (CPU) or a digital signal processor (DSP), and there is no limitation here.

[0124] Example 4

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

[0126] A computer-readable storage medium can be a tangible device that holds and stores instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof.

[0127] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take 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.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0128] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0129] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0130] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0131] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A differential control method for multi-wheel independent drive, characterized in that, Includes the following steps: S1. Parse the control commands to obtain control instructions; S2. Determine whether there is a steering command request in the control command; 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 with the steering command request to obtain the target control speed of each drive wheel, and output it to each drive wheel to execute the driving differential steering control command; if there is no straight-ahead speed or a straight-ahead command request, allocate the received steering command request, obtain the target control speed of each drive wheel, and output it to each drive wheel to execute the stationary differential steering control command. Otherwise, determine whether there is a straight-ahead command request in the control instructions. If there is a straight-ahead command request, send a release brake command to each brake to release the braking state of each drive wheel; send a travel 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. The formula for calculating the target control speed of each drive wheel after superimposing the received straight-ahead command request or the current straight-ahead speed and steering command request is as follows: ； ； ； ； ； ； in, , , , , , These are the speeds of the left front wheel, right front wheel, left middle wheel, right middle wheel, left rear wheel, and right rear wheel, respectively. This is the corrected differential speed component. , f V is the differential correction factor. c S0 is the differential control value, S0 is the current control quantity, and S is the full-scale control quantity of the steering handle or steering wheel.

2. The differential control method for multi-wheel independent drive according to claim 1, characterized in that, ;in, , ; , .

3. The differential control method for multi-wheel independent drive according to claim 1, characterized in that, ;in, For correction factor, The design for multi-wheel drive platforms allows for a maximum center of gravity sideslip angle. This represents the current sideslip angle of the center of gravity for the multi-wheel drive platform.

4. The differential control method for multi-wheel independent drive according to claim 1, characterized in that, After receiving the steering command request, the formula for calculating the target control speed of each drive wheel is as follows: ； ； ； ； ； ； in, , , , , , These are the speeds of the left front wheel, right front wheel, left middle wheel, right middle wheel, left rear wheel, and right rear wheel, respectively. This is the corrected differential speed component. , This is the proportionality coefficient. The design for multi-wheel drive platforms allows for a maximum center of gravity sideslip angle. This refers to the current sideslip angle of the multi-wheel drive platform. This is the differential control value. S represents the current control quantity, and S represents the full-scale control quantity of the steering handle or steering wheel.

5. The differential control method for multi-wheel independent drive according to claim 4, characterized in that, , , , , , The expression is: ； in, .

6. A differential control system with multi-wheel independent drive, characterized in that, include: The parsing module is used to parse control commands and obtain control instructions; The first judgment module is used to determine whether there is a turning command request in the control command. If so, it determines whether there is a straight speed or a straight command request in the current state. The first processing unit is used to, when the first judgment module determines that there is a straight-going speed or a straight-going command request, superimpose the received straight-going command request or the current straight-going speed and the steering command request to obtain the target control speed of each drive wheel, and output it to each drive wheel to execute the driving differential steering control command. The second processing unit is used to allocate the received steering command request, obtain the target control speed of each drive wheel, and output the stationary differential steering control command to each drive wheel when the first judgment module determines that there is no straight-going speed or straight-going command request. The second judgment module is used to determine whether there is a straight-ahead command request in the control command when there is no steering command request in the control command; The third processing unit is used to send a release brake command to each brake to release the braking state of each drive wheel when the second judgment module determines that there is a straight-go command request; and to send a travel drive command to each drive wheel to control the rotation of each drive wheel. The fourth processing unit is used to send a stop command to each drive wheel and brake when the second judgment module determines that there is no straight-go command request, so as to keep the unmanned platform in a stopped state. The target control speed expression for each drive wheel calculated by the first processing unit is as follows: ； ； ； ； ； ； in, , , , , , These are the speeds of the left front wheel, right front wheel, left middle wheel, right middle wheel, left rear wheel, and right rear wheel, respectively. This is the corrected differential speed component. , f V is the differential correction factor. c For differential control, S0 is the current control quantity, with the center position of the steering wheel or handle as the 0 point. S0 to the left of the 0 point is negative, and S0 to the right of the 0 point is positive. S is the full-scale control quantity of the steering wheel or handle, V0 is the straight-line speed, and R... i This corresponds to the distance between the drive wheels during relative steering.

7. The multi-wheel independent drive differential control system according to claim 6, characterized in that, The target control speed expression for each drive wheel calculated by the second processing unit is as follows: ； ； ； ； ； ； in, , , , , , These are the speeds of the left front wheel, right front wheel, left middle wheel, right middle wheel, left rear wheel, and right rear wheel, respectively. This is the corrected differential speed component. , This is the proportionality coefficient. The design for multi-wheel drive platforms allows for a maximum center of gravity sideslip angle. V represents the current sideslip angle of the multi-wheel drive platform's center of gravity. c S0 is the differential control value, and S0 is the current control quantity. The center position of the steering wheel or handle is taken as the 0 point. S0 is negative to the left of the 0 point and positive to the right of the 0 point. S is the full-scale control quantity of the steering wheel or handle.

8. A terminal device, comprising a memory, a processor, and a computer program stored in the memory; characterized in that, The processor executes a computer program in the memory to implement the steps of the method described in any one of claims 1 to 5.

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