Special vehicle action method and related device

Abstract

The invention discloses a special vehicle action method and a related device, which are used in the field of vehicle control and used for an electric actuation system.The method comprises the steps that firstly, an action instruction is received; the action instructions comprise an erecting instruction, a leveling instruction and a withdrawing instruction; then, responding to the action instruction, and executing an action program corresponding to the action instruction based on a pre-calculated control curve; the action program is determined by simulating a plurality of programs designed on the basis of a universal control tool through an electric action system model established on the basis of a universal integrated platform; and finally, based on inclination angle information fed back by the inclination angle sensor and a target inclination angle corresponding to the action instruction, determining an action completion state. Therefore, the electric actuating system is used for replacing a traditional hydraulic system in the operation of the special vehicle, the energy conversion steps can be obviously reduced, electric energy is directly converted into mechanical energy, the efficiency is improved, and the energy loss is reduced.

Description

Technical Field

[0001] This application relates to the technical field of special vehicle control, and particularly to a method for the operation of a special vehicle and related devices. Background Art

[0002] With the development of aerospace and other industries, the performance requirements for special vehicles in operations such as erection and leveling are increasing day by day.

[0003] Currently, hydraulic systems are widely used to drive special vehicles to perform operations such as erection and leveling. However, the energy conversion in the hydraulic system involves multiple steps, such as the need to achieve energy conversion from the motor to the hydraulic pump and then to the actuator. During the secondary energy conversion process, there are a large number of energy losses, and the energy utilization efficiency is relatively low; in addition, during frequent leveling operations, the hydraulic system is also prone to power waste, affecting the operation efficiency.

[0004] Therefore, how to reduce the energy loss of special vehicles during operations has become a problem to be solved. Summary of the Invention

[0005] Based on the above problems, this application provides a method for the operation of a special vehicle and related devices, which can reduce the energy loss of special vehicles during operations.

[0006] The embodiments of this application disclose the following technical solutions:

[0007] In a first aspect, the embodiments of this application provide a method for the operation of a special vehicle for an electro-hydraulic actuator system, the method comprising:

[0008] Receiving an operation instruction; the operation instruction includes an erection instruction, a leveling instruction, and a retraction instruction;

[0009] In response to the operation instruction, executing an operation program corresponding to the operation instruction based on a pre-calculated control curve; the operation program is determined by simulating a plurality of programs designed based on a general control tool through an electro-hydraulic actuator system model established based on a general integration platform;

[0010] Determining the operation completion state based on the inclination information fed back by an inclination sensor and the target inclination corresponding to the operation instruction.

[0011] Optionally, the step of in response to the operation instruction, executing an operation program corresponding to the operation instruction based on a pre-calculated control curve includes:

[0012] In response to the operation instruction, outputting an operation signal for trapezoidal curve motion based on a pre-calculated control curve; the operation signal includes a position signal, a speed signal, and an acceleration signal;

[0013] Execute the action program corresponding to the action instruction based on the action signal.

[0014] Optionally, in response to the action instruction, executing the action program corresponding to the action instruction based on a pre-computed control curve includes:

[0015] In response to the leveling instruction, obtain the base horizontal attitude angle fed back by the tilt sensor;

[0016] Based on the base horizontal attitude angle, determine the height adjustment values corresponding to each electric cylinder;

[0017] Based on the height adjustment values and the pre-computed control curve, execute the leveling action program corresponding to the leveling instruction.

[0018] Optionally, the determining the height adjustment values corresponding to each electric cylinder based on the base horizontal attitude angle includes:

[0019] Based on the base horizontal attitude angle and the initial rod lengths respectively corresponding to each electric cylinder, calculate the current coordinates and leveling coordinates of the support feet respectively corresponding to each electric cylinder;

[0020] Based on the current coordinates and the leveling coordinates, determine the height adjustment values corresponding to each electric cylinder.

[0021] Optionally, in response to the action instruction, executing the action program corresponding to the action instruction based on a pre-computed control curve includes:

[0022] In response to the erection instruction, obtain the erection launcher angle fed back by the tilt sensor;

[0023] Based on the erection launcher angle and the pre-computed control curve through a constant power algorithm, execute the erection action program corresponding to the erection instruction.

[0024] Optionally, in response to the action instruction, executing the action program corresponding to the action instruction based on a pre-computed control curve includes:

[0025] In response to the action instruction, detect the current status flag bit;

[0026] Based on the current status flag bit, determine the target subroutine from the action program corresponding to the action instruction;

[0027] Based on the pre-computed control curve, execute the target subroutine.

[0028] Optionally, after executing the target subroutine based on the pre-computed control curve, the method further includes:

[0029] Update the current status flag based on the executed target subroutine.

[0030] In a second aspect, an embodiment of the present application provides a special vehicle action device for an electro-hydraulic actuation system. The device includes: a receiving module, an execution module, and a determination module.

[0031] The receiving module is configured to receive action instructions. The action instructions include a mast erection instruction, a leveling instruction, and a retraction instruction.

[0032] The execution module is configured to, in response to the action instruction, execute the action program corresponding to the action instruction based on a pre-calculated control curve. The action program is determined by simulating a plurality of programs designed based on a general control tool through an electro-hydraulic actuation system model established based on a general integration platform.

[0033] The determination module is configured to determine the action completion status based on the inclination information fed back by an inclination sensor and the target inclination corresponding to the action instruction.

[0034] In a third aspect, an embodiment of the present application provides a special vehicle action device. The device includes: a memory and a processor.

[0035] The memory is configured to store program code and transmit the program code to the processor.

[0036] The processor is configured to execute the steps of the special vehicle action method according to any one of the embodiments in the first aspect based on the program code.

[0037] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium. A computer program is stored in the computer-readable storage medium. When the computer program runs on a special vehicle action device, the special vehicle action device executes the steps of the special vehicle action method according to any one of the embodiments in the first aspect.

[0038] Compared with the prior art, the present application has the following beneficial effects:

[0039] An embodiment of the present application provides a method for the operation of special vehicles, which is used for an electro-hydraulic actuation system. In this method, first, an operation instruction is received; the operation instruction includes an erection instruction, a leveling instruction, and a retraction instruction; then, in response to the operation instruction, an operation program corresponding to the operation instruction is executed based on a pre-calculated control curve; the operation program is determined by simulating a plurality of programs designed based on a general control tool through an electro-hydraulic actuation system model established based on a general integration platform; finally, based on the inclination information fed back by an inclination sensor and the target inclination corresponding to the operation instruction, the operation completion state is determined. Thus, in the operation of special vehicles, using an electro-hydraulic actuation system to replace the traditional hydraulic system can significantly reduce the energy conversion steps, directly convert electrical energy into mechanical energy, improve efficiency and reduce energy loss. In addition, based on the general control tool and the general integration platform, system simulation analysis is carried out in the field of the electro-hydraulic actuation system of special vehicles, which can shorten the R & D cycle and improve efficiency in the design link of the electro-hydraulic actuation system of special vehicles; through the control curve and the inclination information fed back by the inclination sensor, high-precision erection, leveling or retraction control can be achieved, and the adjustment to the target inclination can be made more quickly. Description of the Drawings

[0040] 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 for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0041] Figure 1 It is a flowchart of a method for the operation of special vehicles provided by an embodiment of the present application;

[0042] Figure 2 It is a schematic diagram of a curve motion control system provided by an embodiment of the present application;

[0043] Figure 3 It is a diagram showing the relationship between speed and time provided by an embodiment of the present application;

[0044] Figure 4 It is a diagram showing the relationship between load and time provided by an embodiment of the present application;

[0045] Figure 5 It is a schematic diagram of a leveling operation process provided by an embodiment of the present application;

[0046] Figure 6 It is a schematic diagram of the principle of a leveling algorithm provided by an embodiment of the present application;

[0047] Figure 7 It is a schematic diagram of a leveling process simulation provided by an embodiment of the present application;

[0048] Figure 8 It is a schematic diagram of the leveling process algorithm simulation provided by an embodiment of the present application;

[0049] Figure 9 It is a schematic diagram of the retraction action process provided by an embodiment of the present application;

[0050] Figure 10 It is a schematic diagram of the action device of a special vehicle provided by an embodiment of the present application;

[0051] Figure 11 It is a structural diagram of the action equipment of a special vehicle provided by an embodiment of the present application. Detailed implementation manners

[0052] A special vehicle action method and related device provided by the present application can be used in the field of vehicle control. The above is only an example and does not limit the application field of the special vehicle action method and related device provided by the present application.

[0053] Terms such as "first", "second", "third", and "fourth" in the specification, claims, and drawings of the present application are used to distinguish different objects, rather than to limit a specific order.

[0054] In the embodiments of the present application, words such as "as an example" or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "as an example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, using words such as "as an example" or "for example" aims to present related concepts in a specific way.

[0055] The terms used in the implementation manners part of the present application are only used to explain the specific embodiments of the present application, rather than to limit the present application.

[0056] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the 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.

[0057] See Figure 1 , this figure is a flowchart of a special vehicle action method provided by an embodiment of the present application. This method is used for an electro-hydraulic actuation system and includes:

[0058] S101: Receive an action instruction.

[0059] Among them, the action instructions may include erection instructions, leveling instructions, and retraction instructions.

[0060] Optionally, before receiving the action instructions, the electric cylinder can be self-checked first, and the self-check information can be reported to the vehicle control device to ensure that components such as motors, sensors, and encoders are in good working condition and reduce the failure rate.

[0061] Optionally, during the process of waiting to receive the erection instruction, the angle of the erection launcher feedback by the inclination sensor can also be received to determine the initial angle and calibrate the absolute encoder to ensure accurate angle measurement.

[0062] S102: In response to the action instruction, execute the action program corresponding to the action instruction based on the pre-calculated control curve.

[0063] As an example, in response to the action instruction, an action signal for trapezoidal curve motion can be output based on the pre-calculated control curve; then, based on the action signal, the action program corresponding to the action instruction is executed. Among them, the action signal includes a position signal, a speed signal, and an acceleration signal.

[0064] Specifically, refer to Figure 2 , which is a schematic diagram of a curve motion control system provided by an embodiment of the present application.

[0065] Among them, in the trapezoidal motion curve planning, trapezoidal curves (control curves) of position (q), velocity (dq), and acceleration (ddq) can be generated respectively, and the motion signals of the trapezoidal curve operation are output, which are: position signal Trapezoidal_Motion_Curve_q, velocity signal Trapezoidal_Motion_Curve_dq, and acceleration signal Trapezoidal_Motion_Curve_ddq. Then, through the speed conversion module, the position signal, velocity signal, and acceleration signal generated by the trapezoidal curve planning are converted into control signals that can be directly used by the motor. The converted signals include position conversion speed_conversion_motion_q, velocity conversion speed_conversion_motion_dq, and acceleration conversion speed_conversion_motion_ddq. Finally, the working characteristics of the DC motor are simulated through the DC motor model, the control signals provided by the speed conversion module are received, and the speed and position of the motor are adjusted according to these control signals to drive the DC motor to move along a predetermined trajectory. The output signals of the DC motor model include acceleration a, position s, and electromagnetic torque Te, and these signals reflect the actual operating state of the motor.

[0066] Exemplarily, the models of each component of the electro-hydraulic actuation system of the special vehicle can be constructed through the general control tool GCKontrol, and multiple programs can be designed. Among them, the program can be an action program for erection and leveling control. The system model is integrated through the general integration platform GCAir, and the interface control document ICD is configured according to the actual special vehicle bus protocol to ensure that the data between each device can be transmitted accurately and simulate the communication architecture of the real electro-hydraulic actuation system to establish the electro-hydraulic actuation system model. Then, different action programs are simulated and compared through the electro-hydraulic actuation system model to evaluate the effects of different programs, so as to determine the action program applied to the embodiment of this application among multiple programs.

[0067] Thus, based on the GCKontrol&GCAir integrated toolchain for system simulation analysis in the field of the electro-hydraulic actuation system of special vehicles, the R & D cycle can be shortened and the efficiency can be improved in the design link of the electro-hydraulic actuation system of special vehicles.

[0068] Optionally, the built-in Jupyter Notebook environment of GCAir can be used to optimize the parameters of the electro-hydraulic actuation system model.

[0069] Optionally, after obtaining the electro-hydraulic actuation system model, the test management tool TM can be used to conduct batch tests on various working conditions of the special vehicle, verify the response of the electro-hydraulic actuation system corresponding to the electro-hydraulic actuation system model under each working condition, and provide a test result report to provide a basis for subsequent further improvement.

[0070] S103: Determine the action completion status based on the inclination information fed back by the inclination sensor and the target inclination corresponding to the action instruction.

[0071] Specifically, the inclination information fed back by the inclination sensor can be monitored in real time. If the action program is executed based on the control curve and the electric cylinder drives the device to move to the target inclination corresponding to the action instruction, the action completion status can be determined as completed, and the continuous action can be stopped; if the electric cylinder drives the device and has not yet moved to the target inclination, the action completion status can be determined as not completed, and the action program needs to be continuously executed until the electric cylinder drives the device to move to the target inclination.

[0072] Therefore, in the embodiments of the present application, using an electro-hydraulic actuation system to replace the traditional hydraulic system in the operation of special vehicles can significantly reduce the energy conversion steps, directly convert electrical energy into mechanical energy, improve efficiency and reduce energy loss. In addition, based on the GCKontrol&GCAir integrated tool chain for system simulation analysis in the field of electro-hydraulic actuation systems for special vehicles, the R & D cycle can be shortened and the efficiency can be improved in the design link of electro-hydraulic actuation systems for special vehicles; through the control curve and the inclination information fed back by the inclination sensor, high-precision erection, leveling or retraction control can be achieved, and the adjustment to the target inclination can be made more quickly.

[0073] The action program can include an erection action program, a leveling action program, and a retraction action program.

[0074] In an example provided by the present application, during the execution of the erection action program, the vehicle control equipment model sends an erection instruction to the erection control model through the CAN interface; after receiving the instruction, the erection control model drives the servo motor to operate according to the pre-calculated control curve; the servo motor drives the lead screw pair to rotate through the reducer and the gear transmission mechanism; under the drive of the lead screw rotation torque, the electric cylinder push rod makes a reciprocating linear motion, so that the electric cylinder drives the device to perform an erection action.

[0075] Optionally, during the execution of the erection action program, in response to the erection instruction, the erection launcher angle fed back by the inclination sensor can be obtained; then, through the constant power algorithm, based on the erection launcher angle and the pre-calculated control curve, the erection action program corresponding to the erection instruction is executed.

[0076] The constant power algorithm of the erection electric cylinder essentially means accomplishing as many tasks as possible with limited resources. When the available power is limited, it tries to maintain operation at a defined power as much as possible, which can improve the efficiency of the entire system.

[0077] Under constant power operation, the speed and torque of the servo motor are inversely proportional. When the output power of the servo motor is constant, as the torque decreases, the speed increases, and the degree of speed increase depends on the amplitude of torque decrease. Also, since torque is related to the load curve, the relationship curve between the speed and angle of the motor operation can be planned according to the load curve, and the speed-time relationship diagram (such as Figure 3 ) and the load-time relationship diagram (such as Figure 4 ) can be obtained. Then, through the constant power algorithm, the power deviation is measured and the speed is finely adjusted to achieve the purpose of constant power control.

[0078] During the process of a special vehicle executing the erection action program, an inclination sensor can be used to measure the angle of the erection launcher. The real-time measured angle signal of the erection launcher can be used as the feedback quantity, and the pre-planned angle-time signal of the erection launcher can be used as the reference signal. Thus, by defining the expected attitude angle that changes with time in advance, an expected control curve can be provided for the system. By comparing the actually measured angle with the reference signal, the deviation (i.e., error) can be calculated. This deviation value is fed back to the controller, and the control output can be adjusted to reduce or eliminate the error and improve the final attitude accuracy after erection.

[0079] During the process of executing the erection action program using the constant power algorithm, since there are many input variables, if any one of the variables undergoes a sudden change or transmission error, the speed of the electric cylinder will jump. In the embodiments of the present application, to avoid the jump of the electric cylinder speed, pre-smoothing filtering can be added before the input variables are used to filter out interference signals; and / or for each variable, a change rate threshold within a unit time can be set to keep the input and output quantities within a reasonable and controllable range and improve the reliability of the system.

[0080] In another example provided by the present application, referring to Figure 5 , the leveling action program includes four steps: leg extension (including virtual leg detection), synchronous lifting, leveling, and locking. Before the system executes the leveling action program, it can judge the current state of the system by detecting the current state flag bit, so as to ensure that the system can continue the previous state to execute the established control actions each time it runs and avoid process errors. After the state identification judgment, it enters the respective control subroutines. After each leveling subroutine is completed, the system returns the current state flag bit and saves it to prevent accidental loss. After leveling is completed, the leveling control model controls the brakes of each motor to lock, maintains the current leveling state, and feeds back the leveling-in-place information to the vehicle control equipment model.

[0081] During the execution of the leveling action program, the vehicle control equipment model sends a leveling instruction to the leveling control model through the CAN interface; after the leveling control model obtains the measurement data of the inclination sensor, it calculates the displacements that each electric cylinder needs to move and outputs a control signal to the servo driver; the servo driver sends a forward or reverse instruction to the motor to control the motor to drive the 4 electric cylinders to perform linear telescopic movements. At the same time, it extends without load until the support plate touches the ground, and then each electric cylinder synchronously lifts and extends; the displacements of each electric cylinder are monitored in real time. After the electric cylinder moves to the position specified by the leveling instruction, the controller controls the motor to perform the next step of action according to the base horizontal attitude angle feedback by the inclination sensor; after reaching the target inclination angle corresponding to the leveling instruction (it can be an inclination angle range within the accuracy), the motor brake is controlled to lock, and the electric cylinder maintains the current position to ensure the current attitude of the target platform.

[0082] As an example, in response to the leveling instruction, the base horizontal attitude angle feedback by the inclination sensor can be obtained; then, based on the base horizontal attitude angle, the height adjustment values corresponding to each electric cylinder are determined; finally, based on the height adjustment values and the pre-calculated control curve, the leveling action program corresponding to the leveling instruction is executed. Thus, through the base horizontal attitude angle, it can be determined to adjust from the current state to the target inclination angle corresponding to the leveling instruction, and the height adjustment values corresponding to each electric cylinder. Furthermore, only based on the height adjustment values, by driving the electric cylinders according to the control curve, the legs corresponding to each electric cylinder move the corresponding displacements, and the leveling can be simply and accurately realized.

[0083] Among them, determining the height adjustment values corresponding to each electric cylinder based on the base horizontal attitude angle, that is, the leveling algorithm, specifically: based on the base horizontal attitude angle and the initial rod lengths corresponding to each electric cylinder respectively, calculate the current coordinates and leveling coordinates of the support feet corresponding to each electric cylinder respectively; based on the current coordinates and the leveling coordinates, determine the height adjustment values corresponding to each electric cylinder respectively.

[0084] Specifically, the inclination sensor is installed on the base (target platform), and the output of the inclination sensor is the base horizontal attitude angle.

[0085] The leveling algorithm of the special vehicle can be the fixed-point leveling method at the highest point, that is, select the longest leg and keep its height unchanged, and the other 3 legs all move closer to this leg until the 4 legs reach the same height finally. Specifically, assume that leg a is the leg corresponding to the highest point, then calculate the height differences between the other legs and leg a, and drive the other three legs to move the corresponding displacements in the same direction through the motor, and finally all reach the height of leg a, then the platform can reach the horizontal state.

[0086] See Figure 6 , which is a schematic diagram of the principle of a leveling algorithm provided by an embodiment of the present application. In Figure 6In (a), an absolute coordinate system OXYZ is established, where XY is the horizontal plane, the front-rear longitudinal axis of the vehicle body is the X-axis, and the left-right is the Y-axis. When the vehicle stops, that is, the four supporting feet are firmly seated, the positions of the four supporting feet are A, B, C, and D respectively, and the coordinates of A, B, C, and D remain unchanged during the whole process. The plane to be leveled is A1-B1-C1-D1, AB is parallel to the Y-axis, and AD is parallel to the X-axis.

[0087] The inclination angle of the surface ABCD relative to the surface XY in the X direction is θx, and the inclination angle in the Y direction is θy. The length of the rod L is known. AA1 , L BB1 , L CC1 , L DD1 , L A1B1 and L B1C1 .

[0088] Since three points can determine a plane, in this embodiment, three points A, B, and C are used to determine a plane, and point A is kept stationary, that is, AA1 remains stationary, and BB1 and CC1 are adjusted to adjust the inclination angles θx and θy.

[0089] During the adjustment of the vehicle body, the four points A, B, C, and D are always kept on the ground, and a plane A2-B2-C2-D2 parallel to the plane A1-B1-C1-D1 is made through point A to form the first cuboid A1-B1-C1-D1--A2-B2-C2-D2. The relative positions of the points in the first cuboid remain unchanged, and the first cuboid is rotated by θx around the X axis and by θy around the Y axis to obtain the second cuboid A1'-B1'-C1'-D1'--A2'-B2'-C2'-D2'.

[0090] After the surface A1-B1-C1-D1 is leveled, it becomes the surface A1'-B1'-C1'-D1'. The coordinates of the vertices in the second cuboid are: A = A2 = A2' = (0,0,0); B2' = (0,L A1B1 , 0); B1'=(0, L A1B1 , L AA1 ); C2'=(L B1C1 , L A1B1 , 0); C1'=(L B1C1 , L A1B1 , L AA1 ); D2'=(L B1C1 ,0,0); D1'=(L B1C1 , 0,0). Among them, L A1B1 , L AA1 and L B1C1 All are quantitative.

[0091] Then, perform the inverse coordinate transformation. Since the tilting angles before leveling are θx and θy, after leveling, the first cuboid rotates by an angle of -θx around the X-axis and by an angle of -θy around the Y-axis, and the corresponding rotation matrices are: R(x, -θx), R(y, -θy).

[0092] Based on the coordinates of each vertex of the second cuboid and the rotation matrix, the coordinates of each vertex of the first cuboid can be obtained. Furthermore, based on the principle of similar triangles, and based on the initial lengths of each rod and the coordinate information, such as rod L BB1 On it, the known rod length L BB1 and L B1B2 , and the coordinates of points B1 and B2, the coordinates of points A, B, C, and D can be obtained.

[0093] Since during the leveling process, the coordinates of points A, B, C, and D remain unchanged all the time. After leveling the plane A1 - B1 - C1 - D1, calculate the coordinate differences between points A, B, C and points A1’, B1’, C1’ of the plane A1’ - B1’ - C1’ - D1’, and then the lengths that each support foot needs to be adjusted can be obtained.

[0094] It can be understood that the above description of the leveling algorithm principle is a theoretical explanation under ideal conditions. During the actual leveling process, the installation position error of the tilt sensor and the relative position error of the quadrilateral plane formed by the base and the 4 electric cylinders also need to be considered, and algorithm compensation is performed.

[0095] See Figure 7 , this figure is a simulation schematic diagram of the leveling process provided by the embodiment of the present application, which can be implemented in GCKonotrol. Among them, the input signal Constant_3 (x-axis angle) provides a constant value representing the angle of the x-axis; the input signal Constant_4 (y-axis angle) provides a constant value representing the angle of the y-axis; if()Select makes a judgment according to the input signal, and ChooseSwitch selects the corresponding path according to the output of if()Select; D_to_hight1, D_to_hight2, D_to_hight3, and D_to_hight4 are the final output signals, corresponding to four different height adjustment values respectively; 0.01 (leveling_Deg) is the leveling precision constant; 5 (X_Platform) represents the position of the platform on the x-axis; 2.2 (Y_Platform) represents the position of the platform on the y-axis; RAND is a random number used to simulate uncertain factors or noises.

[0096] See Figure 8, this figure is a schematic diagram of the leveling process algorithm simulation provided by the embodiment of the present application. Among them, the input variables are: x0, the angle value of the x-axis; y0, the angle value of the y-axis; leveling_Deg, the leveling accuracy value; X_Platform, the position of the platform on the x-axis; Y_Platform, the position of the platform on the y-axis; RAND, the random number generator. The output variables are: D_to_hight1, the first height adjustment value; D_to_hight2, the second height adjustment value; D_to_hight3, the third height adjustment value; D_to_hight4, the fourth height adjustment value. Multiple conditional branches (if and else if) are provided, and each conditional branch corresponds to different logical judgments, and then corresponding calculations are performed according to the judgment results.

[0097] Specifically, when meeting the first condition, the four output height adjustment values are respectively: D_to_hight1 = X_Platform * (-tan(x0 * RAND)); D_to_hight2 = 0; D_to_hight3 = X_Platform * (-tan(x0 * RAND)) + Y_Platform * (-tan(y0 * RAND)); D_to_hight4 = Y_Platform * (-tan(y0 * RAND)).

[0098] When meeting the second condition, the four output height adjustment values are respectively: D_to_hight1 = X_Platform * (-tan(x0 * RAND)); D_to_hight2 = 0; D_to_hight3 = X_Platform * (-tan(x0 * RAND)); D_to_hight4 = 0.

[0099] When meeting the third condition, the four output height adjustment values are respectively: D_to_hight1 = X_Platform * (-tan(x0 * RAND)) + Y_Platform * (tan(y0 * RAND)); D_to_hight2 = Y_Platform * (tan(y0 * RAND)); D_to_hight3 = X_Platform * (-tan(x0 * RAND)); D_to_hight4 = 0.

[0100] When the fourth condition is met, the four output height adjustment values ​​are: D_to_hight1=0; D_to_hight2=0; D_to_hight3=Y_Platform*(-tan(y0*RAND)); D_to_hight4=Y_Platform*(-tan(y0*RAND)).

[0101] When the fifth condition is met, the four output height adjustment values ​​are: D_to_hight1=0; D_to_hight2=0; D_to_hight3=0; D_to_hight4=0.

[0102] In another example provided in this application, see Figure 9 The retraction procedure includes three steps: callback, synchronous descent, and locking. During the execution of the retraction procedure, the leveling control model receives the retraction command and starts the retraction procedure; if the target platform is in the leveling state at this time, it will first be called back to the final stage of synchronous ascent, and then synchronously descend. After the tires of the vehicle body are subjected to force and the support plate is separated from the ground, the motor will continue to be controlled to retract to the initial state point. After the retraction is in place, the motor brake is controlled to lock to complete the retraction action.

[0103] Before the system performs the withdrawal action, it detects the current state flag to determine the current state of the system, and then enters the corresponding target subroutine. After each withdrawal subroutine is completed, the system returns the current state flag and saves it to prevent accidental loss. Therefore, before the electric actuation system takes action, by detecting the current state flag, the current state of the system can be determined, so as to ensure that the system can continue the previous state each time it runs, execute the established action, and avoid process errors. After the withdrawal is completed, the leveling control model controls the brakes of each motor to lock, maintain the current state, and feedback the withdrawal information to the vehicle control equipment model.

[0104] See also Figure 10 , this figure is a schematic diagram of a special vehicle action device provided in an embodiment of the present application, which is used in an electric actuation system and includes: a receiving module 1001, an execution module 1002 and a determination module 1003.

[0105] The receiving module 1001 is used to receive action instructions; the action instructions include erection instructions, leveling instructions and withdrawal instructions;

[0106] The execution module 1002 is used to execute the action program corresponding to the action instruction based on the pre-calculated control curve in response to the action instruction; the action program is determined by simulating multiple programs designed based on the general control tool through the electric actuation system model established based on the general integrated platform;

[0107] A determination module 1003, configured to determine an action completion status based on the inclination information fed back by an inclination sensor and a target inclination corresponding to an action instruction.

[0108] Thus, in the embodiments of the present application, in the operation of special vehicles, using an electric actuation system to replace the traditional hydraulic system can significantly reduce the energy conversion steps, directly convert electrical energy into mechanical energy, improve efficiency and reduce energy loss. In addition, based on a general control tool and a general integration platform, system simulation analysis is carried out in the field of the electric actuation system of special vehicles, which can shorten the R & D cycle and improve efficiency in the design link of the electric actuation system of special vehicles; through the control curve and the inclination information fed back by the inclination sensor, high-precision erection, leveling or retraction control can be realized, and it can be adjusted to the target inclination more quickly.

[0109] Optionally, the execution module 1002 is specifically configured to: in response to an action instruction, output an action signal for trapezoidal curve motion based on a pre-calculated control curve; the action signal includes a position signal, a speed signal, and an acceleration signal; and based on the action signal, execute an action program corresponding to the action instruction.

[0110] Optionally, the execution module 1002 includes an acquisition unit, a determination unit, and an execution unit. The acquisition unit is configured to, in response to a leveling instruction, acquire a base horizontal attitude angle fed back by an inclination sensor; the determination unit is configured to determine a height adjustment value corresponding to each electric cylinder based on the base horizontal attitude angle; and the execution unit is configured to execute a leveling action program corresponding to the leveling instruction based on the height adjustment value and a pre-calculated control curve.

[0111] Optionally, the determination unit is specifically configured to: calculate the current coordinates and leveling coordinates of the support feet corresponding to each electric cylinder based on the base horizontal attitude angle and the initial rod lengths respectively corresponding to the electric cylinders; and determine the height adjustment value corresponding to each electric cylinder based on the current coordinates and the leveling coordinates.

[0112] Optionally, the execution module 1002 is specifically configured to: in response to an erection instruction, acquire an erection launcher angle fed back by an inclination sensor; and execute an erection action program corresponding to the erection instruction based on the erection launcher angle and a pre-calculated control curve through a constant power algorithm.

[0113] Optionally, the execution module 1002 includes a detection unit, a subroutine determination unit, and a subroutine execution unit. The detection unit is configured to, in response to an action instruction, detect a current status flag bit; the subroutine determination unit is configured to determine a target subroutine from an action program corresponding to the action instruction based on the current status flag bit; and the subroutine execution unit is configured to execute the target subroutine based on a pre-calculated control curve.

[0114] Optionally, the execution module 1002 further includes an update unit configured to update the current status flag based on the executed target subroutine.

[0115] See Figure 11 , which is a structural diagram of a special vehicle action device provided by an embodiment of the present application. The device includes: a memory 1101 and a processor 1102.

[0116] Memory 1101: configured to store program code and transmit the program code to the processor.

[0117] Processor 1102: configured to execute the steps of the above-mentioned special vehicle action method according to the instructions in the program code.

[0118] In addition, the present application also provides a computer-readable storage medium storing computer instructions. When the computer instructions run on a special vehicle action device, the special vehicle action device executes the steps of the above-mentioned special vehicle action method.

[0119] It should be noted that the embodiments in this specification are all described in a progressive manner. Similar parts among the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple. The relevant parts can be referred to the description of the method embodiments. The device and system embodiments described above are only illustrative. The units described as separate components may or may not be physically separated. The components prompted as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0120] The above is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A special vehicle operation method, characterized in that: For an electric actuation system, the method comprises: receiving action instructions; the action instructions include erection instructions, leveling instructions and withdrawal instructions; In response to the action instruction, an action program corresponding to the action instruction is executed based on a pre-calculated control curve; the action program is determined by simulating a plurality of programs designed based on a general control tool through an electric actuation system model established based on a general integrated platform; The action completion state is determined based on the inclination information fed back by the inclination sensor and the target inclination corresponding to the action instruction.

2. The method according to claim 1, characterized in that The step of responding to the action instruction and executing the action program corresponding to the action instruction based on the pre-calculated control curve comprises: In response to the motion instruction, based on a pre-calculated control curve, an action signal of trapezoidal curve motion is output; the action signal includes a position signal, a velocity signal and an acceleration signal; Based on the action signal, an action program corresponding to the action instruction is executed.

3. The method according to claim 1, characterized in that The step of responding to the action instruction and executing the action program corresponding to the action instruction based on the pre-calculated control curve comprises: In response to the leveling instruction, acquiring a horizontal attitude angle of the base fed back by a tilt sensor; Based on the horizontal attitude angle of the base, determining the height adjustment value corresponding to each electric cylinder; Based on the height adjustment value and the pre-calculated control curve, a leveling action program corresponding to the leveling instruction is executed.

4. The method according to claim 3, characterized in that The step of determining the height adjustment values ​​corresponding to the electric cylinders based on the horizontal attitude angle of the base includes: Based on the horizontal attitude angle of the base and the initial rod lengths corresponding to the electric cylinders, the current coordinates and the leveling coordinates of the supporting feet corresponding to the electric cylinders are calculated; Based on the current coordinates and the leveling coordinates, height adjustment values ​​corresponding to each electric cylinder are determined.

5. The method according to claim 1, characterized in that The step of responding to the action instruction and executing the action program corresponding to the action instruction based on the pre-calculated control curve comprises: In response to the erection instruction, obtaining the erection launcher angle fed back by the inclination sensor; The erection action program corresponding to the erection instruction is executed through a constant power algorithm based on the erection launcher angle and a pre-calculated control curve.

6. The method according to claim 1, characterized in that The step of responding to the action instruction and executing the action program corresponding to the action instruction based on the pre-calculated control curve comprises: In response to the action instruction, detecting a current state flag; Based on the current state flag, determining a target subroutine from the action program corresponding to the action instruction; Based on the pre-calculated control curve, the target subroutine is executed.

7. The method according to claim 6, characterized in that After executing the target subroutine based on the pre-calculated control curve, the method further includes: Update the current status flags based on the target subroutine executed.

8. A special vehicle action device, characterized in that: For use in an electric actuation system, the device comprises: a receiving module, an execution module and a determination module; The receiving module is used to receive action instructions; the action instructions include erection instructions, leveling instructions and withdrawal instructions; The execution module is used to execute the action program corresponding to the action instruction based on the pre-calculated control curve in response to the action instruction; the action program is determined by simulating a plurality of programs designed based on a general control tool through an electric actuation system model established based on a general integrated platform; The determination module is used to determine the action completion state based on the inclination information fed back by the inclination sensor and the target inclination corresponding to the action instruction.

9. A special vehicle motion device, characterized in that: The device comprises: a memory and a processor; The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the steps of the special vehicle action method according to any one of claims 1-7 according to the program code.

10. A computer-readable storage medium, characterized in that: A computer program is stored in the computer-readable storage medium. When the computer program runs on the special vehicle action equipment, the special vehicle action equipment executes the steps of the special vehicle action method according to any one of claims 1 to 7.

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