Device for reducing shaking of unmanned vehicle in liquid transportation

Abstract

The invention is suitable for the technical field of unmanned vehicle transportation, and particularly relates to a device for reducing shaking of an unmanned vehicle in liquid transportation, which comprises a shaking reducing device base, a first layer of tray, a second layer of tray, a second layer of tray, a third layer of tray, a fourth layer of tray and a fourth layer of tray, the first-layer tray is connected with a second-layer tray through a second damping assembly, an electromagnetic actuator is arranged between the first-layer tray and the second-layer tray, a first displacement sensor is fixedly arranged on the second-layer tray, and the shaking reduction device base is installed on the unmanned vehicle; the electromagnetic actuator executes the corresponding control action according to the vehicle speed and the relative displacement between the container and the unmanned vehicle, when liquid goods are transported, the driving risk caused by shaking is remarkably reduced, safe transportation of the goods is ensured, the uncertainty of the goods quality can be effectively dealt with, and under the condition of different goods loads, the safety of the liquid goods is ensured. And the shaking reduction device always keeps the optimal performance, and the safety and the transportation stability of goods are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned vehicle transportation, and in particular relates to a device for reducing shaking of an unmanned vehicle during liquid transportation. Background Art

[0002] With the continuous development of unmanned driving technology, the application of unmanned vehicles in cargo transportation is increasing, especially in the field of liquid transportation. However, due to the fluidity of liquids, dynamic operations such as acceleration, deceleration and turning of vehicles during transportation will cause fluctuations. Such fluctuations not only affect the stability of the vehicle, but may also cause liquid leakage or container damage, resulting in safety hazards and economic losses.

[0003] At present, the existing sloshing reduction technologies are mostly focused on the transportation of solid goods, and insufficient consideration is given to the particularity of liquid transportation. When unmanned vehicles are transporting liquid goods, the liquid will fluctuate due to dynamic factors such as acceleration, deceleration and turning, and this fluctuation may seriously affect the stability and safety of the vehicle. Under complex road conditions, such as bumpy roads, the fluctuation of the liquid will aggravate the vibration of the vehicle, further threatening the safety of the transportation process. Therefore, the development of a device and control method that effectively reduces the sloshing of unmanned vehicles in liquid transportation has become the key to improving the transportation performance and safety of unmanned vehicles.

[0004] Developing a highly adaptable sway reduction device and control method to better cope with changes in cargo quality and external interference, and to ensure the safe transportation of cargo and the smoothness of vehicle driving, is a key issue that requires in-depth research and improvement. Summary of the invention

[0005] The purpose of the present invention is to provide a device for reducing shaking of an unmanned vehicle when transporting liquid, aiming to solve the problem that when an unmanned vehicle transports liquid goods, the liquid may fluctuate due to dynamic factors such as acceleration, deceleration and turning, and this fluctuation may seriously affect the stability and safety of the vehicle.

[0006] The present invention is implemented as follows: a device for reducing swaying of an unmanned vehicle during liquid transportation, the device for reducing swaying of an unmanned vehicle during liquid transportation comprising:

[0007] A sway reduction device base, wherein the sway reduction device base is connected to a first-layer tray via a first damping component, the first-layer tray is connected to a second-layer tray via a second damping component, an electromagnetic actuator is arranged between the first-layer tray and the second-layer tray, a first displacement sensor is fixedly arranged on the second-layer tray, the sway reduction device base is installed on an unmanned vehicle, and a vehicle speed sensor is installed on the unmanned vehicle;

[0008] The electromagnetic actuator performs corresponding control actions according to the vehicle speed and the relative displacement between the cargo box and the unmanned vehicle.

[0009] Preferably, the first damping assembly and the second damping assembly have the same structure, and both include a first spring and a damper.

[0010] Preferably, the electromagnetic actuator includes an upper magnetic yoke, a lower magnetic yoke, a permanent magnet and a coil, an armature, a push rod, a second spring and a valve, and the armature drives the push rod to generate a reverse force to offset the shaking of the cargo box.

[0011] Preferably, the damper includes a first cavity, a second cavity, a piston rod, a piston head with a hole, a pressure storage and compensation cabin and a sealing protection ring. The first cavity and the second cavity constitute the working cavity of the damper. The piston rod and the piston head with a hole in the cavity control the flow of liquid, and the pressure is adjusted by using the valve and the pressure storage and compensation cabin.

[0012] Preferably, the electromagnetic actuator performs the corresponding control action according to the vehicle speed, the relative displacement between the cargo box and the unmanned vehicle, including: establishing a vehicle-sway reduction device dynamic model, constructing an adaptive controller, determining the throttle opening of the unmanned vehicle based on the adaptive controller, performing parameter control by constructing an adaptive law, and controlling the electromagnetic actuator to perform the corresponding control action according to the output of the adaptive controller.

[0013] Preferably, the vehicle-sway reduction device dynamic model is:

[0014]

[0015]

[0016] Among them, F n ,F c ,F d ,F s ,F t ,F b It is expressed as:

[0017] F c =k c α c

[0018] F n =k n (z n -z s )

[0019] F s =k s (z s -z u )+k sn (z s -z u ) 3

[0020] Ft =k t (z u -z t )+k tn (z u -z t ) 3

[0021]

[0022] Among them, m n Represents the mass of the vehicle, m s Indicates the mass of the sway reduction device base, m u Indicates the mass of the first tray of the sway reduction device, m t Indicates the quality of the goods, F n Indicates the damping force of the sway reduction device base, F c Indicates the vehicle driving force, F s Indicates the output force of the first layer of anti-sway device spring, F d The output force of the first-layer sway reduction device damper, F t Indicates the output force of the second-layer anti-sway device spring, F b represents the output force of the second-layer sway reduction device damper, k c Represents the driving proportional coefficient, α c Indicates the throttle opening, k n represents the damping coefficient of the sway reduction device base, k s represents the linear stiffness coefficient of the first-layer anti-sway device spring, k sn represents the nonlinear stiffness coefficient of the first-layer anti-sway device spring, k t represents the linear stiffness coefficient of the second-layer anti-sway device spring, k tn represents the nonlinear stiffness coefficient of the second-layer anti-sway device spring, b f represents the damping coefficient of the second-layer sway reduction device damper, b c It represents the damping coefficient of the damper of the first layer sway reduction device;

[0023] u f Indicates the output of the actuator; z n ,z s ,z u ,z t They represent vehicle displacement, base displacement, first-layer pallet displacement of the sway reduction device, and cargo displacement respectively; f represents external disturbance.

[0024] Preferably, the adaptive controller u f for:

[0025]

[0026] Among them, k1 is a positive parameter, k a is the throttle feedback gain, α c is the current throttle opening, ε is the design parameter, m t is the quality of the goods, It is for m t is the estimated value of , and s is the sliding surface.

[0027] Preferably, the adaptive law is expressed as:

[0028]

[0029] Among them, r1 is the design parameter and x2 is the state vector.

[0030] The present invention provides a device for reducing sway in the transportation of liquids by an unmanned vehicle. When transporting liquid goods, the driving risk caused by sway is significantly reduced, thereby ensuring the safe transportation of goods, and can effectively deal with the uncertainty of the quality of goods. Under different cargo load conditions, the sway reduction device always maintains the best performance, thereby further improving the safety and transportation stability of the goods. In addition, the control algorithm of the present invention also includes a feedback mechanism when the vehicle accelerates or decelerates. When the vehicle accelerates or decelerates during driving, the control system will feedback information to the actuator in real time, and the output of the actuator will be dynamically adjusted. When the output of the actuator reaches the set threshold, the system will automatically adjust the acceleration or deceleration of the vehicle to cooperate with the sway reduction device to achieve the best sway reduction effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the structure of a device for reducing sloshing of an unmanned vehicle during liquid transportation provided by an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of the installation of a device for reducing sloshing of an unmanned vehicle during liquid transportation provided by an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of the structure of an electromagnetic actuator provided in an embodiment of the present invention;

[0034] Figure 4 A schematic diagram of the structure of a damper provided by an embodiment of the present invention;

[0035] Figure 5 A schematic diagram of the architecture of a vehicle-sway reduction device dynamic model provided in an embodiment of the present invention.

[0036] Figure numerals: 1. sway reduction device base; 2. first layer tray; 3. damper; 4. first displacement sensor; 5. first spring; 6. electromagnetic actuator; 7. vehicle speed sensor; 9. sway reduction device; 10. cargo box; 11. upper yoke; 12. coil; 13. lower yoke; 14. push rod; 15. permanent magnet; 16. armature; 17. second spring; 18. valve; 19. first cavity; 20. second cavity; 21. pressure accumulator compensation cabin; 22. piston rod; 23. sealing protection ring; 24. piston head with hole. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0038] like Figure 1 FIG. 1 is a schematic diagram of a structure of a device for reducing swaying of an unmanned vehicle in liquid transportation provided by an embodiment of the present invention. The device for reducing swaying of an unmanned vehicle in liquid transportation includes:

[0039] A sway reduction device base (1), the sway reduction device base (1) is connected to a first-layer tray (2) via a first damping component, the first-layer tray (2) is connected to a second-layer tray via a second damping component, an electromagnetic actuator (6) is provided between the first-layer tray (2) and the second-layer tray, a first displacement sensor (4) is fixedly provided on the second-layer tray (2), the sway reduction device base (1) is installed on an unmanned vehicle, and a vehicle speed sensor (7) is installed on the unmanned vehicle;

[0040] The electromagnetic actuator (6) performs corresponding control actions according to the vehicle speed and the relative displacement between the cargo box (10) and the unmanned vehicle.

[0041] In this embodiment, the present invention adopts a two-stage vibration reduction structure to improve the vibration control ability of the unmanned vehicle under complex road conditions and ensure the safety of the cargo. Figure 1 As shown below, its shaking reduction function is divided into two layers:

[0042] First level: Passive reduction of shaking

[0043] This layer uses passive sway reduction technology to absorb the impact of liquid sway through mechanical elements such as springs (first spring 5) and dampers 3, slowing down the sway transmission from the liquid and providing a basic sway reduction effect for the vehicle.

[0044] Second layer: Actively reduce shaking

[0045] On the basis of passive sway reduction, the second layer adopts an active sway reduction system. The vibration of the cargo is monitored in real time by sensors, and the output of the actuator is actively adjusted in combination with the control system to achieve a rapid response to changes in the road surface. This active system can accurately respond to complex or sudden road disturbances, thereby further improving the sway reduction effect. In addition, the four actuators output a unified control action at the same frequency, effectively enhancing the overall sway reduction performance of the system.

[0046] The anti-sway device is installed between the front of the vehicle and the cargo box. Figure 2 as follows.

[0047] In the present invention, Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the displacement sensor is used to detect the relative displacement between the cargo box 10 and the sway reduction device in real time, and sense the swaying of the cargo caused by road bumps or vehicle movement.

[0048] The data is fed back to the controller to provide dynamic information.

[0049] The vehicle speed sensor 7 is used to detect the vehicle speed and, combined with the displacement data, to adjust the control parameters of the sway reduction device.

[0050] Sway control mechanism:

[0051] The first spring 5 is used to provide a basic passive vibration reduction function, absorb external impact force, and reduce the vibration amplitude of the cargo box.

[0052] Damper 2: used to provide an additional energy dissipation mechanism to reduce the swaying speed of the cargo box through hydraulic or pneumatic pressure.

[0053] The first cavity 19 and the second cavity 20 constitute the working cavity of the damper. The piston rod 22 and the piston head with holes 24 in the cavity control the flow of liquid. The valve 18 and the pressure storage compensation cabin 21 are used to adjust the pressure to ensure stability.

[0054] (3) Active vibration compensation

[0055] Electromagnetic actuator 6:

[0056] As the core component of active vibration reduction, it is combined with magnetic elements to achieve precise control of vibration.

[0057] The upper yoke 11, the lower yoke 13, the permanent magnet 15 and the coil 12 generate electromagnetic force, which drives the push rod 14 to generate a reverse force through the armature 16 to quickly offset the shaking of the cargo box. The second spring 17 is combined with the push rod 14 to optimize the resetting performance of the magnetic element.

[0058] Dynamic Adjustment:

[0059] The controller adjusts the current of the electromagnetic actuator according to the real-time data of the displacement sensor (the first displacement sensor 4), dynamically controls the movement direction and force of the push rod, accurately compensates for the vibration of the cargo box 10, and improves the response speed and anti-interference ability of the system.

[0060] (4) Protection and reliability

[0061] Sealing protection ring 23:

[0062] Ensure the sealing of the internal components of the sway reduction device to prevent dust and liquid intrusion and extend the life of the equipment.

[0063] Pressure storage and compensation cabin 21:

[0064] Provides pressure regulation and energy storage functions to maintain a stable working state when the system load changes.

[0065] like Figure 5 As shown, step 1: establish the "vehicle-sway reduction device" dynamic model:

[0066]

[0067] Among them, F n ,F c ,F d ,F s ,F t ,F b It is expressed as:

[0068] F c =k c α c

[0069] F n =k n (z n -z s )

[0070] F s =k s (z s -z u )+k sn (z s -z u ) 3

[0071] F t =k t (z u -z t )+k tn (z u -z t ) 3

[0072]

[0073] Among them, m n Represents the mass of the vehicle, m s Indicates the mass of the sway reduction device base, m u Indicates the mass of the first tray of the sway reduction device, m t Indicates the quality of the goods, F n Indicates the damping force of the sway reduction device base, F c Indicates the vehicle driving force, F s Indicates the output force of the first layer of anti-sway device spring, F d The output force of the first-layer sway reduction device damper, F t Indicates the output force of the second-layer anti-sway device spring, F b represents the output force of the second-layer sway reduction device damper, k c Represents the driving proportional coefficient, α c Indicates the throttle opening, k n represents the damping coefficient of the sway reduction device base, k s represents the linear stiffness coefficient of the first-layer anti-sway device spring, k sn represents the nonlinear stiffness coefficient of the first-layer anti-sway device spring, k t represents the linear stiffness coefficient of the second-layer anti-sway device spring, k tn represents the nonlinear stiffness coefficient of the second-layer anti-sway device spring, b f represents the damping coefficient of the second-layer sway reduction device damper, b c It represents the damping coefficient of the damper of the first layer sway reduction device;

[0074] u f Indicates the output of the actuator; z n ,z s ,z u ,z t They represent the vehicle displacement, the base displacement, the first layer pallet 2 displacement of the sway reduction device, and the cargo displacement respectively; f represents the external disturbance.

[0075] Step 2: Design the controller:

[0076] Based on the "vehicle-sway reduction device" system model in step 1, two state vectors are defined in the system, namely: x1 = z t ,

[0077] The following state equation can be obtained:

[0078]

[0079] In the state equation, m t is an uncertain parameter.

[0080] Design sliding surface:

[0081] e1=x1

[0082] e2=x2

[0083] s=ce1+e2

[0084] Where c is a positive parameter.

[0085] Design an adaptive controller u f for:

[0086]

[0087] In the formula, k1 is a positive parameter, k a is the throttle feedback gain, α c is the current throttle opening, ε is the design parameter, m t is the mass of the goods, which is an uncertain parameter, It is for m t When the vehicle accelerates or decelerates, this behavior is captured by the wheel speed sensor and the actuator introduces k a α c This throttle feedback compensation item realizes the control of cargo displacement.

[0088] When the output of the actuator reaches the threshold, in order to better stabilize the cargo, the unmanned vehicle needs to be accelerated or decelerated by controlling the throttle opening of the unmanned vehicle. This can better assist the sway reduction device to achieve the control effect.

[0089]

[0090] In the formula, u th is the set actuator output threshold, α c is the current throttle opening, k b is the gain coefficient of throttle adjustment. Assuming that the force level output by the actuator is positive to the left, when u f >u th When u f <-u th When the vehicle is in a state of slowing down, it is necessary to slow down the vehicle to assist the shock absorber. α0 is the throttle opening when the unmanned vehicle is doing cruise control.

[0091] Step 3: Design the adaptive law

[0092] Select the Lyapunov function:

[0093]

[0094] in

[0095]

[0096] Among them, m t For the quality of goods, is m t An estimate of

[0097] Adaptive Law as follows:

[0098]

[0099] Where r1 is the design parameter.

[0100] Step 4: Adjust the control parameters to achieve the predetermined performance indicators, and continuously adjust the design parameters of the adaptive controller to make the performance of the sway reduction device system reach the predetermined performance indicators.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A device for reducing shaking of an unmanned vehicle during liquid transportation, characterized in that: The device for reducing shaking of the unmanned vehicle during liquid transportation comprises: A sway reduction device base (1), the sway reduction device base (1) is connected to a first-layer tray (2) via a first damping component, the first-layer tray (2) is connected to a second-layer tray via a second damping component, an electromagnetic actuator (6) is provided between the first-layer tray (2) and the second-layer tray, a first displacement sensor (4) is fixedly provided on the second-layer tray (2), the sway reduction device base (1) is installed on an unmanned vehicle, and a vehicle speed sensor (7) is installed on the unmanned vehicle; The electromagnetic actuator (6) performs corresponding control actions according to the vehicle speed and the relative displacement between the cargo box (10) and the unmanned vehicle.

2. The device for reducing swaying of an unmanned vehicle in liquid transportation according to claim 1, characterized in that: The first damping assembly and the second damping assembly have the same structure, and both comprise a first spring (5) and a damper (3).

3. The device for reducing shaking of an unmanned vehicle in liquid transportation according to claim 1, characterized in that: The electromagnetic actuator (6) comprises an upper magnetic yoke (11), a lower magnetic yoke (13), a permanent magnet (15), a coil (12), an armature (16), a push rod (14), a second spring (17) and a valve (18). The armature (16) drives the push rod (14) to generate a reverse force to offset the shaking of the cargo box.

4. The device for reducing swaying of an unmanned vehicle in liquid transportation according to claim 2, characterized in that: The damper (3) comprises a first cavity (19), a second cavity (20), a piston rod (22), a piston head with a hole (24), a pressure storage compensation chamber (21) and a sealing protection ring (23); the first cavity (19) and the second cavity (20) constitute a working cavity of the damper; the piston rod (22) and the piston head with a hole (24) in the cavity control the flow of liquid; and the valve (18) and the pressure storage compensation chamber (21) are used to adjust the pressure.

5. The device for reducing swaying of an unmanned vehicle in liquid transportation according to claim 1, characterized in that: The electromagnetic actuator (6) performs a corresponding control action according to the vehicle speed and the relative displacement between the cargo box (10) and the unmanned vehicle, comprising: establishing a vehicle-sway reduction device dynamic model, constructing an adaptive controller, determining the throttle opening of the unmanned vehicle based on the adaptive controller, performing parameter control by constructing an adaptive law, and controlling the electromagnetic actuator (6) to perform a corresponding control action according to the output of the adaptive controller.

6. The device for reducing swaying of an unmanned vehicle in liquid transportation according to claim 5, characterized in that: The vehicle-sway reduction device dynamic model is: Among them, F n ,F c ,F d ,F s ,F t ,F b It is expressed as: F c =k c a c F n =k n (With n -With s ) F s =k s (With s -With u )+k sn (With s -With u ) 3 F t =k t (With u -With t )+k tn (With u -With t ) 3 Among them, m n Represents the mass of the vehicle, m s Indicates the mass of the sway reduction device base, m u Indicates the mass of the first tray of the sway reduction device, m t Indicates the quality of the goods, F n Indicates the damping force of the sway reduction device base, F c Indicates the vehicle driving force, F s Indicates the output force of the first layer of anti-sway device spring, F d The output force of the first-layer sway reduction device damper, F t Indicates the output force of the second-layer anti-sway device spring, F b represents the output force of the second-layer sway reduction device damper, k c Represents the driving proportional coefficient, α c Indicates the throttle opening, k n represents the damping coefficient of the sway reduction device base, k s represents the linear stiffness coefficient of the first-layer anti-sway device spring, k sn represents the nonlinear stiffness coefficient of the first-layer anti-sway device spring, k t represents the linear stiffness coefficient of the second-layer anti-sway device spring, k tn represents the nonlinear stiffness coefficient of the second-layer anti-sway device spring, b f represents the damping coefficient of the second-layer sway reduction device damper, b c It represents the damping coefficient of the damper of the first layer sway reduction device; u f Indicates the output of the actuator; z n ,z s ,z u ,z t They represent vehicle displacement, base displacement, first-layer pallet displacement of the sway reduction device, and cargo displacement respectively; f represents external disturbance.

7. The device for reducing swaying of an unmanned vehicle in liquid transportation according to claim 5, characterized in that: Adaptive controller f for: Among them, k1 is a positive parameter, k a is the throttle feedback gain, α c is the current throttle opening, ε is the design parameter, m t is the quality of the goods, It is for m t is the estimated value of , and s is the sliding surface.

8. The device for reducing swaying of an unmanned vehicle in liquid transportation according to claim 5, characterized in that: The adaptive law is expressed as: Among them, r1 is the design parameter and x2 is the state vector.

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