Vector control method and device for steering wheel chassis

Abstract

The embodiment of the invention discloses a vector control method and device for a steering wheel chassis. The method at least comprises the steps that the target speed and the target angular speed of a steering wheel chassis at the next moment are obtained; the target speed comprises a target transverse speed and a target longitudinal speed; obtaining pre-stored size parameters of each steering wheel; the size parameters at least include the distance between the mass center of the steering wheel chassis and each steering wheel in the coordinate system of the steering wheel chassis in the coordinate axis direction, and the original point of the coordinate system of the steering wheel chassis is located at the mass center of the steering wheel chassis; and calculating a control angle of a steering motor and a control speed of a driving motor corresponding to each steering wheel at the next moment based on a pre-constructed motion planning control strategy according to the target speed, the target angular speed and the size parameters of each steering wheel. By applying the scheme provided by the embodiment of the invention, the steering wheel chassis can be flexibly controlled.

Description

Technical Field

[0001] The present application relates to the field of mechanical control technology, and in particular, to a vector control method and device for a steering wheel chassis. Background Art

[0002] The steering wheel chassis is a mobile chassis design in which each wheel can be steered and driven independently, with high flexibility and precise motion control capabilities.

[0003] Common steering wheel chassis mainly include differential wheel mobile chassis, that is, steering can only be performed by relying on the left and right wheel speed difference, which leads to poor flexibility of such steering wheel chassis. Therefore, how to flexibly control the steering wheel chassis has become a technical problem to be solved urgently. Summary of the invention

[0004] The present application provides a vector control method and device for a steering wheel chassis to flexibly control the steering wheel chassis. The specific technical solution is as follows.

[0005] In a first aspect, an embodiment of the present application provides a vector control method for a steering wheel chassis, wherein the steering wheel chassis is equipped with a plurality of steering wheels, each steering wheel being controlled by an independent steering motor and a driving motor, and the method comprises:

[0006] Obtaining a target speed and a target angular velocity of the steering wheel chassis at the next moment; the target speed includes a target lateral speed and a target longitudinal speed;

[0007] Acquire pre-stored size parameters of each steering wheel; the size parameters at least include: in the self-coordinate system of the steering wheel chassis, the distance between the center of mass of the steering wheel chassis and each steering wheel along the coordinate axis direction, the origin of the self-coordinate system is located at the center of mass of the steering wheel chassis;

[0008] According to the target speed and the target angular velocity, as well as the size parameters of each steering wheel, based on a pre-constructed motion planning control strategy, the control angle of the steering motor and the control speed of the drive motor corresponding to each steering wheel at the next moment are calculated.

[0009] Optionally, the step of calculating the control angle of the steering motor and the control speed of the driving motor corresponding to each steering wheel at the next moment based on the target speed and the target angular velocity, and the size parameters of each steering wheel based on a pre-built motion planning control strategy comprises:

[0010] Determining coordinate information of each steering wheel in its own coordinate system according to size parameters of each steering wheel;

[0011] Based on a pre-constructed motion planning control strategy, the lateral control speed and the longitudinal control speed of each steering wheel are calculated; the motion planning control strategy identifies the relationship between the lateral control speed of each steering wheel and the target lateral speed, target angular speed and coordinate information of the steering wheel in the self-coordinate system of the steering wheel chassis, and the relationship between the longitudinal control speed of each steering wheel and the target longitudinal speed, target angular speed and coordinate information of the steering wheel in the self-coordinate system of the steering wheel chassis;

[0012] For each of the steering wheels, a control angle of a steering motor and a control speed of a driving motor corresponding to the steering wheel are calculated according to the lateral control speed and the longitudinal control speed of the steering wheel.

[0013] Optionally, the motion planning control strategy includes:

[0014]

[0015]

[0016] Among them, i represents the i-th steering wheel, is the ordinate of the i-th steering wheel in the said own coordinate system; v is the horizontal coordinate of the i-th steering wheel in the self-coordinate system; ix is the longitudinal control speed of the i-th steering wheel, v iy is the lateral control speed of the i-th steering wheel; v x is the target longitudinal velocity of the steering wheel chassis, v y is the target lateral velocity of the steering wheel chassis, and ω is the target angular velocity of the steering wheel chassis.

[0017] Optionally, the step of calculating, for each of the steering wheels, the control angle of the steering motor and the control speed of the driving motor corresponding to the steering wheel according to the lateral control speed and the longitudinal control speed of the steering wheel comprises:

[0018] According to the following formula, calculate the control speed vi of the drive motor corresponding to any steering wheel and the control angle δ of the steering motor i :

[0019]

[0020]

[0021] Optionally, the step of obtaining the target speed and target angular velocity of the steering wheel chassis at the next moment includes:

[0022] receiving a remote controller input command, and determining a target speed and a target angular velocity of the steering wheel chassis at a next moment according to the input command; or

[0023] The planned trajectory of the steering wheel chassis is obtained, and the target speed and target angular velocity of the steering wheel chassis at the next moment are determined according to the planned trajectory.

[0024] Optionally, the method further includes:

[0025] For each of the steering wheels, a corresponding angle instruction is sent to the steering motor corresponding to the steering wheel according to the control angle of the steering motor corresponding to the steering wheel; and a corresponding speed instruction is sent to the driving motor corresponding to the steering wheel according to the control speed of the driving motor corresponding to the steering wheel.

[0026] In a second aspect, an embodiment of the present application provides a vector control device for a steering wheel chassis, wherein the steering wheel chassis is equipped with a plurality of steering wheels, each steering wheel being controlled by an independent steering motor and a driving motor, and the device comprises:

[0027] A speed acquisition module, used to acquire the target speed and target angular velocity of the steering wheel chassis at the next moment; the target speed includes a target lateral speed and a target longitudinal speed;

[0028] A parameter acquisition module, used for acquiring pre-stored size parameters of each steering wheel; the size parameters at least include: in the self-coordinate system of the steering wheel chassis, the distance between the center of mass of the steering wheel chassis and each steering wheel along the coordinate axis direction, the origin of the self-coordinate system is located at the center of mass of the steering wheel chassis;

[0029] The vector control module is used to calculate the control angle of the steering motor and the control speed of the drive motor corresponding to each steering wheel at the next moment based on the target speed and the target angular velocity, as well as the size parameters of each steering wheel and based on a pre-built motion planning control strategy.

[0030] Optionally, the vector control module includes:

[0031] A coordinate determination submodule, used for determining the coordinate information of each steering wheel in its own coordinate system according to the size parameters of each steering wheel;

[0032] a speed calculation submodule, for calculating the lateral control speed and the longitudinal control speed of each of the steering wheels based on a pre-constructed motion planning control strategy; the motion planning control strategy identifies the relationship between the lateral control speed of each of the steering wheels and the target lateral speed, target angular speed of the steering wheel chassis and the coordinate information of the steering wheel in the self-coordinate system, and the relationship between the longitudinal control speed of each of the steering wheels and the target longitudinal speed, target angular speed of the steering wheel chassis and the coordinate information of the steering wheel in the self-coordinate system;

[0033] The motor parameter calculation submodule is used to calculate, for each of the steering wheels, the control angle of the steering motor and the control speed of the driving motor corresponding to the steering wheel according to the lateral control speed and the longitudinal control speed of the steering wheel.

[0034] Optionally, the motion planning control strategy includes:

[0035]

[0036]

[0037] Among them, i represents the i-th steering wheel, is the ordinate of the i-th steering wheel in the said own coordinate system; v is the horizontal coordinate of the i-th steering wheel in the self-coordinate system; ix is the longitudinal control speed of the i-th steering wheel, v iy is the lateral control speed of the i-th steering wheel; v x is the target longitudinal velocity of the steering wheel chassis, v y is the target lateral velocity of the steering wheel chassis, and ω is the target angular velocity of the steering wheel chassis.

[0038] Optionally, the motor parameter calculation submodule is specifically used for:

[0039] According to the following formula, calculate the control speed vi of the drive motor corresponding to any steering wheel and the control angle δ of the steering motor i :

[0040]

[0041]

[0042] Optionally, the speed acquisition module is specifically used to:

[0043] receiving a remote controller input command, and determining a target speed and a target angular velocity of the steering wheel chassis at a next moment according to the input command; or

[0044] The planned trajectory of the steering wheel chassis is obtained, and the target speed and target angular velocity of the steering wheel chassis at the next moment are determined according to the planned trajectory.

[0045] Optionally, the device further comprises:

[0046] The motor control module is used to send a corresponding angle instruction to the steering motor corresponding to each steering wheel according to the control angle of the steering motor corresponding to the steering wheel; and send a corresponding speed instruction to the driving motor corresponding to the steering wheel according to the control speed of the driving motor corresponding to the steering wheel.

[0047] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having one or more computer instructions stored thereon, which are executed by a processor to implement the vector control method for the steering wheel chassis as described in the first aspect above.

[0048] In a fourth aspect, the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the vector control method for the steering wheel chassis as described in the first aspect above.

[0049] In an embodiment of the present application, after obtaining the target speed and target angle of the steering wheel chassis at the next moment, the control angle of the steering motor and the control speed of the drive motor corresponding to each steering wheel can be calculated according to the pre-stored size parameters of each steering wheel and based on the pre-built motion planning control strategy. It can be understood that the speed and angle of the steering wheel chassis can be regarded as the synthetic result of multiple steering wheel speeds and angles. Therefore, after obtaining the target speed and target angle of the steering wheel, the speed and angle are decomposed to obtain the speed and angle of each steering wheel. That is to say, in an embodiment of the present application, each steering wheel is independent of each other and can be flexibly controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work.

[0051] Figure 1 A schematic flow chart of a vector control method for a steering wheel chassis provided in an embodiment of the present application;

[0052] Figure 2 A schematic diagram of the position of each steering wheel of a four-wheel steering wheel chassis provided in an embodiment of the present application;

[0053] Figure 3 A schematic diagram of the position of each steering wheel of a three-wheel steering wheel chassis provided in an embodiment of the present application;

[0054] Figure 4 A schematic diagram of the structure of a chassis motion control system based on vector control provided in an embodiment of the present application;

[0055] Figure 5 A schematic structural diagram of a vector control device for a steering wheel chassis provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0057] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0058] The embodiment of the present application discloses a vector control method and device for a steering wheel chassis, which can flexibly control the steering wheel chassis. The embodiment of the present application is described in detail below.

[0059] like Figure 1 As shown, it shows a vector control method for a steering wheel chassis provided by an embodiment of the present application, the steering wheel chassis is equipped with multiple steering wheels, each steering wheel is controlled by an independent steering motor and a driving motor, and the method may include the following steps:

[0060] S110: Obtain the target speed and target angular velocity of the steering wheel chassis at the next moment; the target speed includes a target lateral speed and a target longitudinal speed.

[0061] The steering wheel chassis in the present application can be used as a carrier and applied to a variety of electronic devices, such as robots, cleaning equipment, etc. The electronic equipment is placed on the steering wheel chassis and can move with the steering wheel chassis. Therefore, the flexible control of the steering wheel chassis will directly affect the use effect of the electronic equipment.

[0062] Usually, the steering wheel chassis and the electronic device are considered as a whole device, and the driving trajectory is planned by the remote controller or the planning module in the device. The control process of the steering wheel chassis is the process of controlling the actual driving trajectory of the steering wheel chassis to coincide with the planned trajectory as much as possible.

[0063] When the steering wheel chassis is vector controlled, the target speed and target angular velocity of the steering wheel chassis at the next moment, that is, the planned speed and angular velocity, need to be obtained first. The target speed includes a target lateral speed and a target longitudinal speed. In the embodiment of the present application, the longitudinal direction is the forward direction of the device, and the lateral direction is the horizontal direction perpendicular to the longitudinal direction.

[0064] In one implementation, the device can be controlled by a remote controller, in which case the remote controller input command can be received, and the target speed and target angular velocity of the steering wheel chassis at the next moment can be determined based on the input command; alternatively, the device can be controlled by a built-in planning control algorithm, in which case the planned trajectory of the steering wheel chassis can be obtained, and the target speed and target angular velocity of the steering wheel chassis at the next moment can be determined based on the planned trajectory.

[0065] S120: Obtain pre-stored size parameters of each steering wheel; the size parameters at least include: in the steering wheel chassis' own coordinate system, the distance from the center of mass of the steering wheel chassis to each steering wheel along the coordinate axis direction, and the origin of the own coordinate system is located at the center of mass of the steering wheel chassis.

[0066] S130: According to the target speed and target angular velocity, as well as the size parameters of each steering wheel, based on a pre-built motion planning control strategy, the control angle of the steering motor and the control speed of the drive motor corresponding to each steering wheel at the next moment are calculated.

[0067] In one implementation, the step of calculating the control angle of the steering motor and the control speed of the drive motor corresponding to each steering wheel at the next moment based on a pre-constructed motion planning control strategy according to the target speed and the target angular velocity, as well as the size parameters of each steering wheel, may include: determining the coordinate information of each steering wheel in its own coordinate system according to the size parameters of each steering wheel; calculating the lateral control speed and the longitudinal control speed of each steering wheel based on the pre-constructed motion planning control strategy; the motion planning control strategy identifies the relationship between the lateral control speed of each steering wheel and the target lateral speed, target angular velocity and the coordinate information of the steering wheel chassis in its own coordinate system, as well as the relationship between the longitudinal control speed of each steering wheel and the target longitudinal speed, target angular velocity and the coordinate information of the steering wheel chassis in its own coordinate system; for each steering wheel, calculating the control angle of the steering motor and the control speed of the drive motor corresponding to the steering wheel according to the lateral control speed and the longitudinal control speed of the steering wheel.

[0068] The above motion planning control strategy may include:

[0069]

[0070]

[0071] i represents the i-th steering wheel, is the ordinate of the i-th steering wheel in its own coordinate system; is the horizontal coordinate of the i-th steering wheel in its own coordinate system; v ix is the longitudinal control speed of the i-th steering wheel, v iy is the lateral control speed of the i-th steering wheel; v xis the target longitudinal velocity of the steering wheel chassis, v y is the target lateral velocity of the steering wheel chassis, and ω is the target angular velocity of the steering wheel chassis.

[0072] Furthermore, the control speed vi of the drive motor corresponding to any steering wheel and the control angle δ of the steering motor can be calculated according to the following formula: i :

[0073]

[0074]

[0075] It can be understood that the speed and angle of the steering wheel chassis can be regarded as the composite result of the speeds and angles of multiple steering wheels. Correspondingly, by decomposing the speed and angle of the steering wheel chassis, the speed and angle of each steering wheel can also be obtained.

[0076] In the embodiment of the present application, in order to decompose the speed and angle of the steering wheel chassis and obtain the speed and angle of each steering wheel, the steering wheel chassis' own coordinate system can be pre-constructed, and the relevant size parameters of each steering wheel in the steering wheel chassis' own coordinate system can be determined. Among them, the origin of the steering wheel chassis' own coordinate system can be located at the center of mass of the steering wheel chassis. In addition, for steering wheel chassis with different numbers of steering wheels, the horizontal and vertical directions of the own coordinate system can be specifically set according to the situation.

[0077] refer to Figure 2 , which shows a schematic diagram of the position of each steering wheel of a four-wheel steering wheel chassis. Figure 2 As shown, the steering wheel chassis can be applied to the robot, XY represents the world coordinate system, the origin of the steering wheel chassis' own coordinate system is located at the center of mass GC, the x direction is the robot's forward direction, the y direction is the left side of the robot's forward direction, and the w i represents the i-th wheel, δ i represents the steering angle of the i-th wheel, vi represents the speed of the i-th wheel, where v ix represents the longitudinal velocity of the i-th wheel, v iy represents the lateral speed of the i-th wheel; a and b are the distances between the robot's center of mass and each wheel along the coordinate axis, and the subscripts 1, 2, 3, and 4 represent the left front fl, left rear rl, right rear rr, and right front fr, respectively.

[0078] The coordinates of the four wheels in their own coordinate system are:

[0079]

[0080] refer to Figure 3 , which shows a schematic diagram of the position of each steering wheel of the three-wheel steering wheel chassis. Figure 3As shown, the steering wheel chassis can be applied to the robot, XY represents the world coordinate system, the origin of the steering wheel chassis' own coordinate system is located at the center of mass, and w i represents the i-th wheel, δ i represents the steering angle of the i-th wheel, vi represents the speed of the i-th wheel, where v ix represents the longitudinal velocity of the i-th wheel, v iy represents the lateral speed of the i-th wheel; a and b are the distances between the robot's center of mass and each wheel along the coordinate axis, and the subscripts 1, 2, and 3 represent the left front wheel fl, the right front wheel fr, and the rear wheel r, respectively.

[0081] The coordinates of the three wheels in their own coordinate system are:

[0082]

[0083] Assume that in the world coordinate system, the vehicle linear speed is It represents the speed of the wheel system generated by the robot's rotation, where ω is the angular velocity of the robot, is the distance between the center of mass of the robot and the center of the wheel system. For wheel i on the vehicle, its speed The calculation formula is as follows:

[0084]

[0085] Its longitudinal velocity v ix and the lateral velocity v iy The calculation formula is as follows:

[0086]

[0087]

[0088] According to the above formula, the x and y direction speeds of the four wheels in the four-wheel steering wheel chassis can be obtained as follows:

[0089] v 1x =v x -wb

[0090] v 1y =v y +wa

[0091] v 2x =v x +wb

[0092] v 2y =v y +wa

[0093] v 3x =v x -wb

[0094] v 3y =v y -wa

[0095] v 4x =v x +wb

[0096] v 4y =v y -wa

[0097] The x and y speeds of the three wheels in the three-wheel steering chassis are:

[0098] v1x=v x -wb

[0099] v1y=v y +wa

[0100] v2x=v x +wb

[0101] v2y=v y +wa

[0102] v3x=v x

[0103] v3y=v y -wr

[0104] After calculating the x and y speeds of each wheel, the control speed vi of the drive motor corresponding to each wheel and the control angle δ of the steering motor can be calculated according to the following formula: i :

[0105]

[0106]

[0107] In one implementation, after calculating the control speed of the drive motor and the control angle of the steering motor corresponding to each steering wheel, for each steering wheel, a corresponding angle instruction can be sent to the steering motor corresponding to the steering wheel according to the control angle of the steering motor corresponding to the steering wheel; and a corresponding speed instruction can be sent to the drive motor corresponding to the steering wheel according to the control speed of the drive motor corresponding to the steering wheel.

[0108] In an embodiment of the present application, after obtaining the target speed and target angle of the steering wheel chassis at the next moment, the control angle of the steering motor and the control speed of the drive motor corresponding to each steering wheel can be calculated according to the pre-stored size parameters of each steering wheel and based on the pre-built motion planning control strategy. It can be understood that the speed and angle of the steering wheel chassis can be regarded as the synthetic result of multiple steering wheel speeds and angles. Therefore, after obtaining the target speed and target angle of the steering wheel, the speed and angle are decomposed to obtain the speed and angle of each steering wheel. That is to say, in an embodiment of the present application, each steering wheel is independent of each other and can be flexibly controlled.

[0109] like Figure 4 As shown, it shows a chassis motion control system based on vector control provided in an embodiment of the present application. The system mainly includes a vector controller, a steering motor and a drive motor.

[0110] The input of the vector controller is the linear velocity and angular velocity of the vehicle (i.e. chassis). The linear velocity includes the lateral velocity and the longitudinal velocity. These inputs can come from the remote control input or the planned trajectory. After receiving the input linear velocity and angular velocity information, the vector controller can calculate the steering motor angle and drive motor speed required for each steering wheel according to the pre-set motion planning and control strategy.

[0111] Among them, the steering motor can adjust the direction of the vehicle according to the steering angle command output by the vector controller, so that the vehicle moves in the desired direction. The control of the steering motor can be implemented by using an actuator such as a motor controller or a servo. The drive motor can control the linear speed of the vehicle according to the speed command output by the vector controller, and push the vehicle forward or backward. The control of the drive motor usually involves components such as a motor controller and a motor driver.

[0112] The coordinated action of the steering motor and the drive motor enables the chassis to move at a predetermined speed and direction, thus achieving the movement and steering of the vehicle. It can be seen that the entire chassis motion control system can accurately control the steering motor and the drive motor according to the input linear velocity and angular velocity information after being processed by the vector controller, thereby achieving the motion control of the vehicle in different directions and speeds.

[0113] The chassis motion control system based on vector control has the following advantages:

[0114] High maneuverability, capable of lateral movement and zero turning radius, with greater flexibility; each wheel is independently steered by a motor, without the limitation of mechanical linkage, and the steering angle is unconstrained; it can realize all the actions of two-wheel, four-wheel and omnidirectional mobile robots, and perform unique lateral movement with high efficiency, avoiding high energy loss caused by the complex structure of omnidirectional wheel robots.

[0115] High flexibility: Through vector control, the speed and direction of each wheel can be controlled independently, making the chassis more flexible and maneuverable, and realizing a variety of movement modes such as translation, rotation, and side shifting.

[0116] Precise control: By precisely controlling the speed and steering angle of each wheel, precise posture adjustment and motion control can be achieved, allowing the robot to complete complex tasks in narrow or complex environments.

[0117] Optimize path planning: Vector control can dynamically adjust the motion parameters of each wheel according to real-time environmental information and task requirements, optimize path planning, and enable the robot to complete tasks more efficiently.

[0118] Reduce friction and energy consumption: Through vector control, the friction and sliding of the robot when turning can be reduced, energy consumption can be reduced, battery life can be extended, and the working efficiency and service life of the robot can be improved.

[0119] Enhanced anti-interference ability: Vector control can achieve rapid response and adjustment to external interference, making the robot have strong anti-interference ability and able to operate stably in complex environments.

[0120] Improve safety: Vector control can achieve more precise motion control, reduce collisions and accidents, and improve the safety and reliability of the robot.

[0121] In summary, the multi-wheeled mobile robot based on vector control has many advantages such as high flexibility, precise control, optimized path planning, high energy efficiency, and strong anti-interference ability. It is suitable for mobile robot applications in various complex environments.

[0122] Figure 5 The schematic diagram of the structure of a vector control device for a steering wheel chassis provided in an embodiment of the present application is shown. The steering wheel chassis is equipped with multiple steering wheels, each of which is controlled by an independent steering motor and a driving motor. The device includes:

[0123] The speed acquisition module 510 is used to acquire the target speed and target angular speed of the steering wheel chassis at the next moment; the target speed includes a target lateral speed and a target longitudinal speed;

[0124] The parameter acquisition module 520 is used to acquire the pre-stored size parameters of each steering wheel; the size parameters at least include: in the self-coordinate system of the steering wheel chassis, the distance between the center of mass of the steering wheel chassis and each steering wheel along the coordinate axis direction, and the origin of the self-coordinate system is located at the center of mass of the steering wheel chassis;

[0125] The vector control module 530 is used to calculate the control angle of the steering motor and the control speed of the drive motor corresponding to each steering wheel at the next moment based on the target speed and the target angular velocity, as well as the size parameters of each steering wheel and based on a pre-built motion planning control strategy.

[0126] Optionally, the vector control module 530 includes:

[0127] A coordinate determination submodule, used for determining the coordinate information of each steering wheel in its own coordinate system according to the size parameters of each steering wheel;

[0128] a speed calculation submodule, for calculating the lateral control speed and the longitudinal control speed of each of the steering wheels based on a pre-constructed motion planning control strategy; the motion planning control strategy identifies the relationship between the lateral control speed of each of the steering wheels and the target lateral speed, target angular speed of the steering wheel chassis and the coordinate information of the steering wheel in the self-coordinate system, and the relationship between the longitudinal control speed of each of the steering wheels and the target longitudinal speed, target angular speed of the steering wheel chassis and the coordinate information of the steering wheel in the self-coordinate system;

[0129] The motor parameter calculation submodule is used to calculate, for each of the steering wheels, the control angle of the steering motor and the control speed of the driving motor corresponding to the steering wheel according to the lateral control speed and the longitudinal control speed of the steering wheel.

[0130] Optionally, the motion planning control strategy includes:

[0131]

[0132]

[0133] Among them, i represents the i-th steering wheel, is the ordinate of the i-th steering wheel in the said own coordinate system; v is the horizontal coordinate of the i-th steering wheel in the self-coordinate system; ix is the longitudinal control speed of the i-th steering wheel, v iy is the lateral control speed of the i-th steering wheel; v x is the target longitudinal velocity of the steering wheel chassis, v y is the target lateral velocity of the steering wheel chassis, and ω is the target angular velocity of the steering wheel chassis.

[0134] Optionally, the motor parameter calculation submodule is specifically used for:

[0135] According to the following formula, calculate the control speed vi of the drive motor corresponding to any steering wheel and the control angle δ of the steering motor i :

[0136]

[0137]

[0138] Optionally, the speed acquisition module 510 is specifically used to:

[0139] receiving a remote controller input command, and determining a target speed and a target angular velocity of the steering wheel chassis at a next moment according to the input command; or

[0140] The planned trajectory of the steering wheel chassis is obtained, and the target speed and target angular velocity of the steering wheel chassis at the next moment are determined according to the planned trajectory.

[0141] Optionally, the device further comprises:

[0142] The motor control module is used to send a corresponding angle instruction to the steering motor corresponding to each steering wheel according to the control angle of the steering motor corresponding to the steering wheel; and send a corresponding speed instruction to the driving motor corresponding to the steering wheel according to the control speed of the driving motor corresponding to the steering wheel.

[0143] In an embodiment of the present application, after obtaining the target speed and target angle of the steering wheel chassis at the next moment, the control angle of the steering motor and the control speed of the drive motor corresponding to each steering wheel can be calculated according to the pre-stored size parameters of each steering wheel and based on the pre-built motion planning control strategy. It can be understood that the speed and angle of the steering wheel chassis can be regarded as the synthetic result of multiple steering wheel speeds and angles. Therefore, after obtaining the target speed and target angle of the steering wheel, the speed and angle are decomposed to obtain the speed and angle of each steering wheel. That is to say, in an embodiment of the present application, each steering wheel is independent of each other and can be flexibly controlled.

[0144] The present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the following is achieved: Figure 1-Figure 4 The technical solution of a vector control method for a steering wheel chassis.

[0145] The present application provides a computer program product, the computer program product comprising a computer program, the computer program when executed by a processor to achieve the following Figure 1-Figure 4 The technical solution of a vector control method for a steering wheel chassis.

[0146] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of one embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present application.

[0147] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0148] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vector control method for a steering wheel chassis, characterized in that: The steering wheel chassis is equipped with a plurality of steering wheels, each steering wheel is controlled by an independent steering motor and a driving motor, and the method comprises: Obtaining a target speed and a target angular velocity of the steering wheel chassis at the next moment; the target speed includes a target lateral speed and a target longitudinal speed; Acquire pre-stored size parameters of each steering wheel; the size parameters at least include: in the self-coordinate system of the steering wheel chassis, the distance between the center of mass of the steering wheel chassis and each steering wheel along the coordinate axis direction, the origin of the self-coordinate system is located at the center of mass of the steering wheel chassis; According to the target speed and the target angular velocity, as well as the size parameters of each steering wheel, based on a pre-constructed motion planning control strategy, the control angle of the steering motor and the control speed of the drive motor corresponding to each steering wheel at the next moment are calculated.

2. The method according to claim 1, characterized in that The step of calculating the control angle of the steering motor and the control speed of the driving motor corresponding to each steering wheel at the next moment based on the target speed and the target angular velocity, and the size parameters of each steering wheel based on a pre-built motion planning control strategy comprises: Determining coordinate information of each steering wheel in its own coordinate system according to size parameters of each steering wheel; Based on a pre-constructed motion planning control strategy, the lateral control speed and the longitudinal control speed of each steering wheel are calculated; the motion planning control strategy identifies the relationship between the lateral control speed of each steering wheel and the target lateral speed, target angular speed and coordinate information of the steering wheel in the self-coordinate system of the steering wheel chassis, and the relationship between the longitudinal control speed of each steering wheel and the target longitudinal speed, target angular speed and coordinate information of the steering wheel in the self-coordinate system of the steering wheel chassis; For each of the steering wheels, a control angle of a steering motor and a control speed of a driving motor corresponding to the steering wheel are calculated according to the lateral control speed and the longitudinal control speed of the steering wheel.

3. The method according to claim 2, characterized in that The motion planning control strategy includes: Among them, i represents the i-th steering wheel, is the ordinate of the i-th steering wheel in the said own coordinate system; v is the horizontal coordinate of the i-th steering wheel in the self-coordinate system; ix is the longitudinal control speed of the i-th steering wheel, v iy is the lateral control speed of the i-th steering wheel; v x is the target longitudinal velocity of the steering wheel chassis, v y is the target lateral velocity of the steering wheel chassis, and ω is the target angular velocity of the steering wheel chassis.

4. The method according to claim 3, characterized in that The step of calculating, for each of the steering wheels, the control angle of the steering motor and the control speed of the driving motor corresponding to the steering wheel according to the lateral control speed and the longitudinal control speed of the steering wheel comprises: According to the following formula, calculate the control speed vi of the drive motor corresponding to any steering wheel and the control angle δ of the steering motor i :

5. The method according to any one of claims 1 to 4, characterized in that: The step of obtaining the target speed and target angular velocity of the steering wheel chassis at the next moment comprises: receiving a remote controller input command, and determining a target speed and a target angular velocity of the steering wheel chassis at a next moment according to the input command; or The planned trajectory of the steering wheel chassis is obtained, and the target speed and target angular velocity of the steering wheel chassis at the next moment are determined according to the planned trajectory.

6. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: For each of the steering wheels, a corresponding angle instruction is sent to the steering motor corresponding to the steering wheel according to the control angle of the steering motor corresponding to the steering wheel; and a corresponding speed instruction is sent to the driving motor corresponding to the steering wheel according to the control speed of the driving motor corresponding to the steering wheel.

7. A vector control device for a steering wheel chassis, characterized in that: The steering wheel chassis is equipped with a plurality of steering wheels, each of which is controlled by an independent steering motor and a driving motor. The device comprises: A speed acquisition module, used to acquire the target speed and target angular velocity of the steering wheel chassis at the next moment; the target speed includes a target lateral speed and a target longitudinal speed; A parameter acquisition module, used for acquiring pre-stored size parameters of each steering wheel; the size parameters at least include: in the self-coordinate system of the steering wheel chassis, the distance between the center of mass of the steering wheel chassis and each steering wheel along the coordinate axis direction, the origin of the self-coordinate system is located at the center of mass of the steering wheel chassis; The vector control module is used to calculate the control angle of the steering motor and the control speed of the drive motor corresponding to each steering wheel at the next moment based on the target speed and the target angular velocity, as well as the size parameters of each steering wheel and based on a pre-built motion planning control strategy.

8. The device according to claim 7, characterized in that The vector control module comprises: A coordinate determination submodule, used for determining the coordinate information of each steering wheel in its own coordinate system according to the size parameters of each steering wheel; a speed calculation submodule, for calculating the lateral control speed and the longitudinal control speed of each of the steering wheels based on a pre-constructed motion planning control strategy; the motion planning control strategy identifies the relationship between the lateral control speed of each of the steering wheels and the target lateral speed, target angular speed of the steering wheel chassis and the coordinate information of the steering wheel in the self-coordinate system, and the relationship between the longitudinal control speed of each of the steering wheels and the target longitudinal speed, target angular speed of the steering wheel chassis and the coordinate information of the steering wheel in the self-coordinate system; The motor parameter calculation submodule is used to calculate, for each of the steering wheels, the control angle of the steering motor and the control speed of the driving motor corresponding to the steering wheel according to the lateral control speed and the longitudinal control speed of the steering wheel.

9. The device according to claim 8, characterized in that The motion planning control strategy includes: Among them, i represents the i-th steering wheel, is the ordinate of the i-th steering wheel in the said own coordinate system; v is the horizontal coordinate of the i-th steering wheel in the self-coordinate system; ix is the longitudinal control speed of the i-th steering wheel, v iy is the lateral control speed of the i-th steering wheel; v x is the target longitudinal velocity of the steering wheel chassis, v y is the target lateral velocity of the steering wheel chassis, and ω is the target angular velocity of the steering wheel chassis.

10. The device according to claim 9, characterized in that The motor parameter calculation submodule is specifically used for: According to the following formula, calculate the control speed vi of the drive motor corresponding to any steering wheel and the control angle δ of the steering motor i :

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