Crawler-type chassis walking steering control system and method

Abstract

The invention discloses a crawler-type chassis walking steering control system and method, and relates to the technical field of agricultural machinery transmission control. The system comprises a motor-belt wheel transmission device, a sensing unit, a driving steering type hydraulic walking transmission device and a controller, the motor-belt wheel transmission device comprises a motor, a motor driver and a transmission mechanism; the sensing unit and the motor driver are electrically connected with the controller; the motor driver is electrically connected with the motor; the motor is mechanically connected with the transmission mechanism; the driving steering type hydraulic walking transmission device comprises a plunger variable pump and a plunger constant displacement motor; a variable disc of the plunger variable pump is mechanically connected with the transmission mechanism; the plunger variable pump is mechanically connected with the plunger constant displacement motor; the plunger constant displacement motor is mechanically connected with a gearbox of a vehicle to be controlled; and the controller adopts a variable universe PID control algorithm, generates a control signal based on the detection information, and realizes track rotating speed control of the to-be-controlled vehicle. Automation of vehicle speed changing and steering can be achieved, and operability of automatic driving of the agricultural vehicle is improved.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery transmission control, and particularly to a crawler chassis walking and steering control system and method. Background Art

[0002] The chassis is the foundation for supporting and driving the entire agricultural vehicle. It receives the power of the drive system to enable agricultural vehicles such as tractors and harvesters to drive normally in production links such as plowing, sowing, managing, and harvesting. Therefore, the development level of agricultural machinery chassis technology is an important symbol reflecting the degree of agricultural modernization and intelligence. Traditional crawler agricultural machinery chassis mainly adopts a mechanical plus hydrostatic transmission device (Hydrostatic Transmission, HST). The rotation of the trunnion of the HST gearbox is driven through the link mechanism of the speed regulation handle in the cab, and the internal gear speed of the gearbox is changed through hydraulic transmission to control the vehicle driving speed. Therefore, during the vehicle driving process, the stepless speed change of the HST is realized by manual operation and intervention of the driver.

[0003] To adapt to the unmanned operation environment of agricultural machinery, automated chassis control is an aspect of autonomous driving operation. Electronic handle plus electric speed regulation is a feasible solution for realizing the longitudinal control of HST stepless speed change vehicles. For example, in the Chinese patent application for invention CN104898687A known to the inventor, a solution of using an electronic rocker handle to replace the mechanical speed regulation handle is given, and this solution is a direct transformation of the traditional speed regulation handle. The Chinese patent application for invention CN107366739A known to the inventor proposes a solution of using a mechanical self-locking electronic handle. It can be seen that although the known solutions give solutions for realizing the autonomous driving of agricultural vehicles, they only use electronic handles to replace mechanical handles, and do not further consider the speed control problem required during autonomous driving, and cannot truly realize the automation of agricultural vehicle speed change and steering. Summary of the Invention

[0004] The purpose of the present application is to provide a crawler chassis walking and steering control system and method, which can realize the automation of vehicle speed change and steering, and further increase the operability of vehicle autonomous driving.

[0005] To achieve the above purpose, the present application provides the following solutions:

[0006] In the first aspect, the present application provides a crawler chassis walking and steering control system, including: a motor-pulley transmission device, a sensing unit, a drive-steering type hydraulic walking transmission device, and a controller;

[0007] The motor - pulley drive device includes a motor, a motor driver, and a transmission mechanism; the sensing unit and the motor driver are both electrically connected to the controller; the motor driver is electrically connected to the motor; the motor is mechanically connected to the transmission mechanism;

[0008] The drive - steering type hydraulic walking transmission device includes a piston variable pump and a piston fixed - displacement motor; the variable disk of the piston variable pump is mechanically connected to the transmission mechanism; the piston variable pump is mechanically connected to the piston fixed - displacement motor; the piston fixed - displacement motor is mechanically connected to the gearbox of the vehicle to be controlled;

[0009] The sensing unit is used to obtain the detection information of the vehicle to be controlled; the detection information includes the motor steering angle, the track speed information, and the throttle signal; the throttle signal includes the rotational speed signal and the torque signal of the throttle;

[0010] The controller is used to generate a control signal based on the detection information of the vehicle to be controlled by using the variable universe PID control algorithm; the motor driver controls the rotation position of the motor based on the control information, drives the transmission mechanism to control the rotation angle of the variable disk of the piston variable pump, so as to realize the control of the displacement and direction of the piston variable pump; based on the current displacement and direction of the piston variable pump, the track speed of the vehicle to be controlled is realized through the piston fixed - displacement motor and the gearbox.

[0011] Optionally, the sensing unit includes: an angle sensor, a speed sensor, and a torque sensor; the angle sensor, the speed sensor, and the torque sensor are all electrically connected to the controller;

[0012] The angle sensor is used to obtain the motor steering angle; the speed sensor is used to obtain the track speed information and the rotational speed signal of the throttle; the torque sensor is used to obtain the torque signal of the throttle.

[0013] Optionally, the transmission mechanism includes: a piston variable pump variable trunnion pulley, a belt, a plurality of tension pulleys, an angle sensor pulley, a motor pulley, and a piston variable pump variable trunnion;

[0014] The piston variable pump variable trunnion pulley is mechanically connected to the variable disk of the piston variable pump through the piston variable pump variable trunnion; the angle sensor pulley is mechanically connected to the angle sensor; the motor pulley is mechanically connected to the motor; the belt is arranged in a closed loop along the piston variable pump variable trunnion pulley, a plurality of tension pulleys, the angle sensor pulley, and the motor pulley.

[0015] Optionally, the transmission mechanism further includes a mounting plate; the mounting plate is provided with mounting holes corresponding to the variable ear shaft pulley of the plunger variable pump, the plurality of tension pulleys, the angle sensor pulley, the motor pulley, the angle sensor and the motor.

[0016] Optionally, the sensing unit is connected to the controller via a CAN bus.

[0017] Optionally, the controller is a PID controller.

[0018] In a second aspect, the present application provides a track-type chassis walking and steering control method, which is implemented by using the above-provided track-type chassis walking and steering control system; the track-type chassis walking and steering control method includes:

[0019] Obtain the detection information of the vehicle to be controlled; the detection information includes the motor steering angle and the throttle signal; the throttle signal includes the rotational speed information and the torque information;

[0020] Adopt a variable universe PID control algorithm to generate a control signal based on the detection information of the vehicle to be controlled; the variable universe PID control algorithm is a PID control algorithm introduced with variable universe fuzzy logic control;

[0021] Based on the control signal, realize the track rotational speed control of the vehicle to be controlled.

[0022] Optionally, adopting a variable universe PID control algorithm to generate a control signal based on the detection information of the vehicle to be controlled includes:

[0023] Determine the input variables, the basic universe of the input variables, the output variables and the basic universe of the output variables based on the original PID parameters of the PID controller; the input variables include the rotational speed error and the change rate of the rotational speed error; the output variable is the correction amount of the PID parameters;

[0024] Determine the first scaling factor and the second scaling factor based on the input variables and the output variables;

[0025] Adjust the basic universe of the input variables by using the first scaling factor to obtain the variable universe of the input variables;

[0026] Adjust the basic universe of the output variables by using the second scaling factor to obtain the variable universe of the output variables;

[0027] Obtain the final correction amount of the PID parameters based on the variable universe of the input variables and the variable universe of the output variables;

[0028] Use the final correction amount of the PID parameters to correct the original PID parameters to obtain the final control parameters;

[0029] Generate the control signal based on the detection information of the vehicle to be controlled by using the final control parameter.

[0030] Optionally, the first scaling factor is expressed as:

[0031] α(x) = 1 - εe -kx ;

[0032] The second scaling factor is expressed as:

[0033] β p = β d = |2e|;

[0034] In the formula, α(x) is the first scaling factor, both ε and k are constants, 0 < ε < 1, k > 0; x is the rotational speed error e or the error change rate e c , β p is the scaling factor of the change in proportional gain ΔK P of, β d is the scaling factor of the change in derivative gain ΔK D of.

[0035] Optionally, the variable universe of discourse of the input variable is expressed as:

[0036] X’ = [-α(x)E, α(x)E];

[0037] The variable universe of discourse of the output variable is expressed as:

[0038] Y’ p = [-β p K, β p K];

[0039] Y’ i = [-β i K, β i K];

[0040] Y’ d = [-β d K, β d K];

[0041] In the formula, X’ is the variable universe of discourse of the input variable, [-E, E] is the basic universe of discourse of the input variable, E is the domain limit value of the input variable universe of discourse, Y’ p is the variable universe of discourse of the proportional gain, Y’ i is the variable universe of discourse of the integral gain, Y’ d is the variable universe of discourse of the derivative gain, [-K, K] is the basic universe of discourse of the output variable, and K is the domain limit value of the output variable universe of discourse.

[0042] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0043] Based on the specific structure of the crawler chassis walking and steering control system provided by the present application, by adopting the variable universe PID control algorithm, stepless speed change of the steering hydraulic walking transmission device can be realized based on the PID control technology, thereby realizing the automation of vehicle speed change and steering, and increasing the operability of vehicle automatic driving. Description of the Drawings

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0045] Figure 1 Assembly drawing of the motor-pulley transmission device provided by an embodiment of the present application;

[0046] Figure 2 Schematic structural diagram of a crawler chassis walking and steering control system provided by an embodiment of the present application;

[0047] Figure 3 Principle block diagram of variable universe fuzzy PID control provided by an embodiment of the present application;

[0048] Figure 4 Flow schematic diagram of a crawler chassis walking and steering control method provided by an embodiment of the present application.

[0049] Description of the reference numerals:

[0050] 1. Plunger variable pump variable trunnion pulley; 2. Belt; 3. Tension pulley; 4. Angle sensor pulley; 5. Motor pulley; 6. Plunger variable pump variable trunnion; 7. Mounting plate; 8. Angle sensor; 9. Motor; 10. Filter; 11. Plunger pump; 12. Plunger motor; 13. Fuel tank; 14. Relief valve; 15. Hydraulic motor; 16. Relief valve; 17. Check valve. Detailed Embodiments

[0051] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0052] To make the above objects, features, and advantages of the present application more apparent and understandable, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] In an exemplary embodiment, the present application provides a crawler chassis walking and steering control system, as Figure 1 shown. The system includes: a motor-pulley drive device, a sensing unit, a drive-steering type hydraulic walking drive device, and a controller.

[0054] The motor-pulley drive device includes a motor, a motor driver, and a transmission mechanism. Both the sensing unit and the motor driver are electrically connected to the controller. The motor driver is electrically connected to the motor. The motor is mechanically connected to the transmission mechanism.

[0055] The drive-steering type hydraulic walking drive device includes a piston variable pump and a piston fixed-displacement motor. The variable disc of the piston variable pump is mechanically connected to the transmission mechanism. The piston variable pump is mechanically connected to the piston fixed-displacement motor. The piston fixed-displacement motor is mechanically connected to the gearbox of the vehicle to be controlled.

[0056] The sensing unit is used to obtain the detection information of the vehicle to be controlled. The detection information includes the motor steering angle, the crawler speed information, and the throttle signal. The throttle signal includes the rotational speed signal of the throttle and the torque signal of the throttle.

[0057] The controller is used to generate a control signal based on the detection information of the vehicle to be controlled by using a variable universe PID control algorithm. The motor driver controls the rotation position of the motor based on the control information, drives the transmission mechanism to control the rotation angle of the variable disc of the piston variable pump, so as to realize the control of the displacement and direction of the piston variable pump. Based on the current displacement and direction of the piston variable pump, the crawler speed of the vehicle to be controlled is realized through the piston fixed-displacement motor and the gearbox.

[0058] In another exemplary embodiment of the present application, when the controller adopted is a PID controller, in order to realize the accurate detection of information and improve the real-time performance and accuracy of PID control, in this embodiment, the sensing unit may include: an angle sensor, a speed sensor, and a torque sensor. The angle sensor, the speed sensor, and the torque sensor are all electrically connected to the controller.

[0059] The angle sensor is used to obtain the motor steering angle. The speed sensor is used to obtain the crawler speed information and the rotational speed signal of the throttle. The torque sensor is used to obtain the torque signal of the throttle.

[0060] The controller controls the motor driver according to the speed and the motor position signal (i.e., the motor steering angle), thereby changing the steering position and speed of the motor.

[0061] In another exemplary embodiment of the present application, as Figure 1As shown in the figure, the transmission mechanism includes: a variable displacement trunnion pulley 1 of a piston pump, a belt 2, multiple tension pulleys 3, an angle sensor pulley 4, a motor pulley 5, a variable displacement trunnion 6 of a piston pump, and a mounting plate 7.

[0062] The variable displacement trunnion pulley 1 of the piston pump is mechanically connected to the variable displacement disk of the piston pump through the variable displacement trunnion 6 of the piston pump. The angle sensor pulley 4 is mechanically connected to the angle sensor. The motor pulley 5 is mechanically connected to the motor 9. The belt 2 is arranged in a closed loop along the variable displacement trunnion pulley 1 of the piston pump, multiple tension pulleys 3, the angle sensor pulley 4, and the motor pulley 5.

[0063] The mounting plate 7 is provided with mounting holes corresponding to the variable displacement trunnion pulley 1 of the piston pump, multiple tension pulleys 3, the angle sensor pulley 4, the motor pulley 5, the angle sensor 8, and the motor 9.

[0064] Based on the above description of this embodiment, in the actual application process, the variable displacement trunnion 6 of the piston pump can also be arranged in a drive-steering type hydraulic walking transmission device. The synchronous pulley of the motor-pulley transmission device is installed on the side trunnion of the piston pump. The controller controls the position of the motor according to the angle sensor signal. When using an HST as the drive-steering type hydraulic walking transmission device, there are two sets of motor-pulley transmission devices (i.e., a straight-line motor-pulley transmission device and a steering motor-pulley transmission device). The motor shafts are respectively mechanically connected to the variable displacement disks of the straight-line piston pump and the steering piston pump.

[0065] Control the motor to work in the corresponding working mode according to the required power. The motor is connected to the motor pulley 5, and the torque is transmitted to the variable displacement trunnion 6 of the piston pump through the belt 2. In the actual application process, a suitable motor can be selected according to the actual power requirement to meet the actual power requirement. Each motor can work in a speed mode or a torque mode, or be in a non-working mode.

[0066] Among them, after giving the transmission requirements and the original data, when the synchronous belt transmission should meet the requirements of transmitting power and motion, the determination method of the required power can be described as:

[0067]

[0068] In the formula, P is the expected transmitted power, and the unit is kilowatt (kW). F is the maximum required traction force, and the unit is Newton (N). V is the estimated detection speed, and the unit is m / s.

[0069] According to the working conditions of the synchronous belt, the designed power P d is:

[0070] P d = K A ×P.

[0071] Wherein, Pa is the required power (i.e., the designed calculated power), and the unit is kilowatt (kW). K A is the service factor. P is the expected transmitted power, and the unit is kilowatt (kW).

[0072] Furthermore, the drive-steering type hydraulic walking transmission device may further include a cycloidal make-up oil pump, a hydraulic control valve, etc., which is a combination of multiple functional hydraulic components and forms a closed circuit. In the actual application process, the drive-steering type hydraulic walking transmission device can be divided into a straight-line part and a steering part, and is directly connected in series in the power transmission chain of the chassis driving system (i.e., receiving the engine power and transmitting the output speed to the left and right crawlers of the chassis). Based on this, in the straight-line part, the straight-line motor-pulley transmission device changes the displacement and direction of the straight-line piston variable pump by changing the tilt angle of the variable disk of the straight-line piston variable pump, so as to change the output speed and direction of the straight-line piston fixed-displacement motor. In the steering part, the steering motor-pulley transmission device changes the displacement and direction of the steering piston variable pump by changing the tilt angle of the variable disk of the steering piston variable pump, so as to change the output speed and direction of the steering piston fixed-displacement motor. The straight-line piston fixed-displacement motor and the steering piston fixed-displacement motor are respectively coaxially connected to the straight-line motor drive shaft and the steering motor drive shaft in the gearbox, and then converge into the planetary gear, and finally output to the crawler drive wheel, so as to control the rotational speeds of the two crawlers.

[0073] Based on the above description, as Figure 2 shown, the drive-steering type hydraulic walking transmission device mainly consists of components such as a filter 10, a piston pump 11, a piston motor 12, a fuel tank 13, a relief valve 14, a hydraulic motor 15, a relief valve 16, a check valve 17, etc. The connection relationship between the components can be seen in Figure 2 , and will not be elaborated here.

[0074] In the actual application process, the engine sensor obtains information such as the engine speed and engine torque from the engine CAN bus, and the other end is connected to the CAN bus input end of the controller (such as a PLC motion controller). One end of the speed sensor is connected to the left and right output shafts of the gearbox to obtain the rotational speed information of the left and right crawlers, and the other end is connected to the pulse signal input end of the controller. The straight-line and steering motors are connected to the matching motor drivers, and the motor drivers use CAN communication and are connected to the CAN bus output end of the controller. The angle sensor uses CAN communication and is connected to the CAN bus input end of the controller.

[0075] In another exemplary embodiment of the present application, an on-vehicle storage battery can be used to provide electrical energy for the crawler chassis walking steering control system provided above.

[0076] Based on the same inventive concept, an embodiment of the present application further provides a crawler chassis walking and steering control method for implementing the crawler chassis walking and steering control system involved above. The solution provided by this method to solve the problem is similar to the solution recorded in the above system. Therefore, the specific limitations in one or more embodiments of the crawler chassis walking and steering control method provided below can refer to the limitations on the crawler chassis walking and steering control system in the above text, and will not be elaborated here.

[0077] In an exemplary embodiment, as Figure 4 shown, a crawler chassis walking and steering control method is provided, including:

[0078] Step 100: Obtain the detection information of the vehicle to be controlled. The detection information includes the motor steering angle and the throttle signal. The throttle signal includes the rotational speed information and the torque information.

[0079] Step 101: Generate a control signal based on the detection information of the vehicle to be controlled by using a variable universe PID control algorithm. The variable universe PID control algorithm is a PID control algorithm introduced with variable universe fuzzy logic control.

[0080] Step 102: Implement the crawler speed control of the vehicle to be controlled based on the control signal.

[0081] As an optional implementation manner, in order to solve the problem that traditional PID control cannot achieve real-time adjustment of PID parameters, the present application controls the chassis drive motor based on a speed single-loop PID control algorithm. According to the error between the current motor speed and the target speed, the required control amount is calculated by adjusting the proportional coefficient P, the integral coefficient I, and the differential coefficient D. And fuzzy logic control is introduced on the basis of the speed single-loop PID control algorithm to obtain a variable universe PID control algorithm with a control principle as Figure 3 shown. Among them, in fuzzy control, fuzzy rules, scale factors, and the basic universe of variables are set in advance. By selecting an appropriate universe scaling factor to adjust the universe error and the universe, the controlled system can achieve the best balance between the response speed and the steady-state accuracy under the conditions of meeting the range and accuracy requirements of various control parameters. Based on this, a new PID controller is formed by adding a universe self-adaptive adjustment mechanism to the fuzzy PID controller, and its input is also the error e and the error change rate e c, the output is the scaling factor of the input and output universes of discourse. Multiply the basic universes of discourse of the input and output by their corresponding scaling factors to obtain a new universe of discourse (i.e., the variable universe of discourse). The universe-of-discourse adaptive adjustment mechanism actually obtains the adjustment ratio of the universe of discourse based on the real-time input variable, so as to achieve the effect of adjusting the universe-of-discourse range in real time without changing the basic universes of discourse of the input and output, and further making the optimized control parameters obtained better than those of the fuzzy PID controller. The new PID controller has a wide range of applications and can meet the fast response requirements of the system in speed-loop control, achieving precise control during the steering process.

[0082] The fixed basic universe of discourse of the variable will directly affect the control performance of fuzzy control. In fuzzy control, the fuzzy rules, scaling factors, and basic universe of discourse of the variable are set in advance. Therefore, on this basis, the variable universe-of-discourse fuzzy control is improved by combining the variable universe-of-discourse theory. By selecting appropriate scaling factors of the universe of discourse to adjust the universe-of-discourse error and the universe of discourse, the controlled system can meet the range and accuracy requirements of various control parameters and achieve the best balance between response speed and steady-state accuracy. Based on this, the implementation process of the above step 101 can include:

[0083] (1) Determine the input variable, the basic universe of discourse of the input variable, the output variable, and the basic universe of discourse of the output variable based on the original PID parameters of the PID controller. The input variables include the rotational speed error (i.e., the difference between the set rotational speeds of the left and right tracks and the actual rotational speeds of the left and right tracks) and the change rate of the rotational speed error. The output variable is the correction amount of the PID parameters.

[0084] (2) Determine the first scaling factor and the second scaling factor based on the input variable and the output variable. Among them, the scaling factor of the fuzzy controller is adaptively adjusted according to the magnitude of the fuzzy input quantity, realizing that when the error approaches zero, the number of fuzzy rules is increased and the control accuracy is improved. Based on this, the first scaling factor is expressed as:

[0085] α(x) = 1 - εe -kx .

[0086] Furthermore, in the basic universe of discourse of the output variable, considering the characteristics of the input variables of the PID controller comprehensively, the change amount ΔK P of the proportional gain, the change amount ΔK D of the derivative gain, and the scaling factor β p , β d are kept in the same direction as the change direction of the rotational speed error e, and the scaling factor β I of the change amount ΔK i of the integral gain is kept in the opposite direction to the error e. Therefore, the second scaling factor is expressed as:

[0087] β p = β d = |2e|.

[0088] Wherein, α(x) is the first scaling factor, ε and k are both constants, 0 < ε < 1, k > 0. x is the rotational speed error e or the error change rate e c , β p is the change amount ΔK of the proportional gain P 's scaling factor, β d is the change amount ΔK of the differential gain D 's scaling factor.

[0089] (3) Adjust the basic domain of the input variable using the first scaling factor to obtain the variable domain of the input variable. For example: If the basic domain of the input variable is X = [-E, E], then the variable domain of the input variable is expressed as:

[0090] X' = [-α(x)E, α(x)E].

[0091] Wherein, X' is the variable domain of the input variable, and E is the domain limit value of the input variable.

[0092] (4) Adjust the basic domain of the output variable using the second scaling factor to obtain the variable domain of the output variable. For example, assume the initial domain of the output variable is Y p = Y i = Y d = [-K, K], then the variable domain of the output variable is expressed as:

[0093] Y' p = [-β p K, β p K].

[0094] Y' i = [-β i K, β i K].

[0095] Y' d = [-β d K, β d K].

[0096] Wherein, Y' p is the variable domain of the proportional gain, Y' i is the variable domain of the integral gain, Y' d is the variable domain of the differential gain, Y p is the basic domain of the proportional gain, Y i is the basic domain of the integral gain, Y d is the basic domain of the differential gain, [-K, K] is the basic domain of the output variable, and K is the domain limit value of the output variable.

[0097] (5) Obtain the final correction amount of the PID parameters based on the variable domain of the input variable and the variable domain of the output variable.

[0098] (6) Modify the original PID parameters with the final correction amount of the PID parameters to obtain the final control parameters.

[0099] (7) Generate a control signal based on the detection information of the vehicle to be controlled by using the final control parameters.

[0100] Among them, when implementing this implementation manner, for the fuzzy PID controller, based on the membership function and fuzzy rules, fuzzy inference and defuzzification are completed by using fuzzy inference and the centroid method to obtain the correction amount of the PID parameters.

[0101] During the process of determining the fuzzy rules for the fuzzy PID controller, a triangular membership function can be selected. When establishing the fuzzy control rules, the working characteristics of the crawler chassis walking and steering control system and the mutual relationship between various control parameters are comprehensively considered to formulate the fuzzy control rules.

[0102] As an alternative implementation manner, before determining the original PID parameters of the PID controller, it is also necessary to determine the left and right track speeds and their weighting coefficients, the throttle speed and its weighting coefficient. Determine the motor speed signal, and compare the motor speed signal with the set motor speed to obtain a deviation signal.

[0103] Based on the final control parameters, control the actions of the drive-steering type hydraulic walking transmission device to complete the walking and steering of the crawler vehicle. The actions of the drive-steering type hydraulic walking transmission device are detected by the left and right speed sensors and fed back to the controller to achieve closed-loop automatic control. Among them, the motor speed signal is obtained by calculating the feedback signal provided by the angle sensor.

[0104] In summary, based on the traditional PID control method, the present application adopts the scaling factor of fuzzy control and adaptively adjusts according to the magnitude of the fuzzy input quantity, so as to increase the number of fuzzy rules when the error approaches zero, thereby improving the control accuracy. By this means, the present application can not only remove the traditional steering wheel and joystick speed change structure, but also automatically drive the double HST crawler chassis according to the changes in the left and right track speeds, perform adaptive stepless speed change, realize the automation of the crawler chassis walking and steering, and increase the safety during walking and steering.

[0105] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0106] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0107] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0108] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, etc. Volatile memories can include random access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0109] The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., and are not limited thereto. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logics, data processing logics based on quantum computing, etc., and are not limited thereto.

[0110] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0111] In this text, specific examples are used to elaborate on the principles and implementation modes of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application. At the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation modes and application scopes. To sum up, the content of this specification should not be construed as a limitation to this application.

Claims

1. A crawler chassis walking and steering control system, characterized in that: The crawler chassis travel steering control system comprises: a motor-pulley transmission device, a sensor unit, a drive steering type hydraulic travel transmission device and a controller; The motor-pulley transmission device comprises a motor, a motor driver and a transmission mechanism; the sensor unit and the motor driver are both electrically connected to the controller; the motor driver is electrically connected to the motor; and the motor is mechanically connected to the transmission mechanism; The driving steering type hydraulic travel transmission device comprises a plunger variable displacement pump and a plunger quantitative motor; the variable disk of the plunger variable displacement pump is mechanically connected to the transmission mechanism; the plunger variable displacement pump is mechanically connected to the plunger quantitative motor; the plunger quantitative motor is mechanically connected to the gearbox of the vehicle to be controlled; The sensing unit is used to obtain detection information of the vehicle to be controlled; the detection information includes the motor steering angle, track speed information and throttle signal; the throttle signal includes the throttle speed signal and the throttle torque signal; The controller is used to adopt a variable domain PID control algorithm to generate a control signal based on the detection information of the vehicle to be controlled; the motor driver controls the rotation position of the motor based on the control information, driving the transmission mechanism to control the rotation angle of the variable disk of the plunger variable pump to achieve the control of the displacement and direction of the plunger variable pump; based on the current displacement and direction of the plunger variable pump, the track speed control of the vehicle to be controlled is achieved through the plunger quantitative motor and the gearbox.

2. The crawler chassis walking and steering control system according to claim 1, characterized in that: The sensing unit includes: an angle sensor, a speed sensor and a torque sensor; the angle sensor, the speed sensor and the torque sensor are all electrically connected to the controller; The angle sensor is used to obtain the steering angle of the motor; the speed sensor is used to obtain the track speed information and the speed signal of the throttle; and the torque sensor is used to obtain the torque signal of the throttle.

3. The crawler chassis walking and steering control system according to claim 2, characterized in that: The transmission mechanism comprises: a variable displacement trunnion pulley of a plunger variable pump, a belt, a plurality of tension pulleys, an angle sensor pulley, a motor pulley and a variable displacement trunnion of a plunger variable pump; The variable ear shaft pulley of the plunger variable pump is mechanically connected to the variable disk of the plunger variable pump through the variable ear shaft of the plunger variable pump; the angle sensor pulley is mechanically connected to the angle sensor; the motor pulley is mechanically connected to the motor; the belt forms a closed loop along the variable ear shaft pulley of the plunger variable pump, multiple tension pulleys, the angle sensor pulley and the motor pulley.

4. The crawler chassis walking and steering control system according to claim 3, characterized in that: The transmission mechanism also includes a mounting plate; the mounting plate is provided with mounting holes corresponding to the variable trunnion pulley of the variable piston pump, the plurality of tension pulleys, the angle sensor pulley, the motor pulley, the angle sensor and the motor.

5. The crawler chassis walking and steering control system according to claim 1, characterized in that: The sensor unit is connected to the controller via a CAN bus.

6. The crawler chassis walking and steering control system according to claim 1, characterized in that: The controller is a PID controller.

7. A crawler chassis walking and steering control method, characterized in that: The crawler chassis walking and steering control method is implemented by using the crawler chassis walking and steering control system according to any one of claims 1 to 6; The crawler chassis walking steering control method comprises: Acquire detection information of the vehicle to be controlled; the detection information includes a motor steering angle and a throttle signal; the throttle signal includes speed information and torque information; A variable universe PID control algorithm is used to generate a control signal based on the detection information of the vehicle to be controlled; the variable universe PID control algorithm is a PID control algorithm that introduces variable universe fuzzy logic control; The track speed control of the vehicle to be controlled is achieved based on the control signal.

8. The crawler chassis walking and steering control method according to claim 7, characterized in that: The variable universe PID control algorithm is used to generate control signals based on the detection information of the vehicle to be controlled, including: Determine input variables, basic domains of input variables, output variables and basic domains of output variables based on original PID parameters of the PID controller; the input variables include speed error and the rate of change of speed error; the output variables are correction amounts of PID parameters; Determining a first scaling factor and a second scaling factor based on the input variable and the output variable; Using the first scaling factor to adjust the basic domain of the input variable to obtain a variable domain of the input variable; Using the second scaling factor to adjust the basic domain of the output variable to obtain a variable domain of the output variable; Obtaining a final correction amount of a PID parameter based on the variable domain of the input variable and the variable domain of the output variable; The final correction amount of the PID parameter is used to correct the original PID parameter to obtain the final control parameter; The final control parameter is used to generate the control signal based on the detection information of the vehicle to be controlled.

9. The crawler chassis walking and steering control method according to claim 8, characterized in that: The first scaling factor is expressed as: α(x)=1-εe -kx ; The second scaling factor is expressed as: β p ＝β d ＝|2e|； Where α(x) is the first expansion factor, ε and k are constants, 0<ε<1, k>0; x is the speed error e or the error change rate e c , β p is the change in proportional gain ΔK P The expansion factor, β d is the change in differential gain ΔK D The expansion factor.

10. The crawler chassis walking and steering control method according to claim 9, characterized in that: The variable domain of the input variable is expressed as: X' = ​​[-α(x)E, α(x)E]; The variable domain of the output variable is expressed as: Y' p =[-β p K, b p K]; Y' i =[-β i K, b i K]; Y' d =[-β d K, b d K]; In the formula, X' is the variable domain of the input variable, [-E, E] is the basic domain of the input variable, E is the domain limit value of the input variable, and Y' p is the variable domain of proportional gain, Y' i is the variable domain of the integral gain, Y' d is the variable domain of the differential gain, [-K, K] is the basic domain of the output variable, and K is the domain limit value of the output variable domain.

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