Crawler antiskid control method, system, equipment, medium and product

Abstract

The invention discloses an anti-skid control method, system, equipment, medium and product for a tracked vehicle, and relates to the field of anti-skid control, and the method comprises the steps: collecting the running speed of a track, the speed of the tracked vehicle, the rotation angular speed of a chain wheel, the output torque of the tracked vehicle and the disturbance quantity of the tracked vehicle in real time; according to the running speed of the crawler, the speed of the crawler and the rotation angular speed of the chain wheel, the real-time slip rate is determined; according to the output torque of the tracked vehicle, the running speed of the track and the rotation angular speed of the chain wheel, the optimal slip rate is determined; according to the real-time slip rate, the optimal slip rate and the disturbance quantity of the crawler, an active disturbance rejection control strategy is adopted, and a driving adjusting signal is obtained; according to the driving adjusting signal, the output torque of the crawler is adjusted, and the crawler is prevented from sliding. According to the invention, an active-disturbance-rejection control strategy is adopted, and the adaptability and stability of the crawler are improved based on a rapid and dynamic anti-skid control method.

Description

Technical Field

[0001] The present application relates to the field of anti-slip control, and particularly to an anti-slip control method, system, device, medium and product for a tracked vehicle. Background Art

[0002] In recent years, with the gradual depletion of land mineral resources and the continuous increase in demand, the development of marine mineral resources has received extensive attention. Deep-sea areas are rich in mineral resources such as manganese nodules, cobalt-rich crusts, and submarine hydrothermal sulfides, containing various rare metals such as cobalt, nickel, lithium, and rare earth elements. These resources are crucial for the development of high-tech industries and new energy technologies. The exploitation of deep-sea mineral resources can not only provide important support for energy and industry but also has important strategic significance. However, the technical threshold for deep-sea resource exploitation is relatively high, involving extreme environments of high pressure, low temperature, and low light, making it difficult to directly apply traditional exploitation and control technologies.

[0003] In the deep-sea environment, mining equipment must possess high stability and adaptability to cope with complex seabed terrains and variable bottom sediment characteristics. The tracked micro-submarine drill is a mining equipment suitable for operating in the deep-sea environment. With its flexible movement mode and strong terrain adaptability, it is widely used in the exploration and exploitation of deep-sea mineral resources. However, due to the influence of bottom sediment changes and extreme environments, the tracked vehicle is prone to slipping problems, resulting in a decrease in traction force, an increase in energy consumption, and even affecting the positioning accuracy and operation efficiency of the equipment. Therefore, to improve the traction performance and operation stability of deep-sea drills under different bottom sediment conditions, it is particularly important to develop an adaptive anti-slip control system.

[0004] Traditional anti-slip control methods usually adopt fixed slip rate setting values. These fixed values may be effective in terrestrial environments, but in the deep sea, the variability of bottom sediment conditions makes it difficult for these fixed values to adapt. For example, on soft or complex bottom sediments in the deep sea, fixed values may lead to insufficient driving force or overload, making it difficult to effectively avoid slipping phenomena. The main challenges faced by current anti-slip control methods in the deep-sea environment include low temperature, high pressure, bottom sediment variability, and external disturbances generated by ocean currents. These factors make it impossible for traditional methods to quickly respond to external disturbances, resulting in unstable system performance. Summary of the Invention

[0005] The purpose of the present application is to provide an anti-slip control method, system, device, medium and product for a tracked vehicle. By adopting an active disturbance rejection control strategy and based on a fast and dynamic anti-slip control method, the adaptability and stability of the tracked vehicle are improved.

[0006] To achieve the above purpose, the present application provides the following solutions:

[0007] In a first aspect, the present application provides a method for controlling anti-skid of a tracked vehicle, comprising:

[0008] Real-time collection of crawler running speed, crawler vehicle speed, sprocket rotation angular velocity, crawler vehicle output torque and crawler vehicle disturbance;

[0009] determining a real-time slip rate based on the running speed of the crawler track, the speed of the crawler vehicle, and the rotational angular velocity of the sprocket;

[0010] determining an optimal slip ratio according to the output torque of the crawler vehicle, the running speed of the crawler and the rotational angular velocity of the sprocket;

[0011] According to the real-time slip rate, the optimal slip rate and the disturbance amount of the crawler vehicle, an active disturbance rejection control strategy is adopted to obtain a drive adjustment signal;

[0012] The output torque of the crawler vehicle is adjusted according to the drive adjustment signal to prevent the crawler vehicle from sliding.

[0013] In a second aspect, the present application provides an anti-skid control system for a tracked vehicle, comprising:

[0014] The data acquisition module is used to collect the running speed of the crawler, the speed of the crawler vehicle, the rotational angular velocity of the sprocket, the output torque of the crawler vehicle and the disturbance of the crawler vehicle in real time;

[0015] a real-time slip rate determination module, connected to the data acquisition module, for determining the real-time slip rate according to the running speed of the crawler track, the speed of the crawler vehicle and the rotational angular velocity of the sprocket;

[0016] an optimal slip ratio determination module, connected to the data acquisition module, for determining an optimal slip ratio based on the output torque of the crawler vehicle, the running speed of the crawler and the rotational angular velocity of the sprocket;

[0017] a drive adjustment signal acquisition module connected to the data acquisition module, the real-time slip ratio determination module, and the optimal slip ratio determination module, and configured to obtain a drive adjustment signal by adopting an active disturbance rejection control strategy based on the real-time slip ratio, the optimal slip ratio, and the disturbance amount of the crawler vehicle;

[0018] The output torque adjustment module is connected to the drive adjustment signal acquisition module and is used to adjust the output torque of the crawler vehicle according to the drive adjustment signal to prevent the crawler vehicle from sliding.

[0019] In a third aspect, the present application provides a computer device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-mentioned anti-skid control method for a tracked vehicle.

[0020] Fourthly, the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned anti-slip control method for a crawler vehicle is implemented.

[0021] Fifthly, the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the above-mentioned anti-slip control method for a crawler vehicle is implemented.

[0022] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0023] The present application provides an anti-slip control method, system, device, medium and product for a crawler vehicle. By collecting the running speed of the crawler, the speed of the crawler vehicle, the rotational angular velocity of the sprocket, the output torque of the crawler vehicle and the disturbance amount of the crawler vehicle in real time, the real-time slip ratio and the optimal slip ratio of the crawler vehicle are calculated; the current slipping condition of the crawler vehicle is monitored in real time through the real-time slip ratio of the crawler vehicle; unnecessary energy consumption is minimized through the optimal slip ratio, and the energy efficiency of the crawler vehicle is improved. Through the real-time slip ratio, the optimal slip ratio and the disturbance amount of the crawler vehicle, an active disturbance rejection control strategy is adopted to obtain a drive adjustment signal; external disturbances can be quickly cancelled, and the disturbance resistance and stability of the crawler vehicle in extreme environments are significantly improved. Through the drive adjustment signal, the output torque of the crawler vehicle is adjusted to prevent the crawler vehicle from sliding. The present application can adapt to complex and changeable deep-sea geological environments, ensure that the crawler vehicle can maintain a stable traction force in different regions, and improve the adaptability and stability of the crawler vehicle. Description of the Drawings

[0024] 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 embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 It is an application environment diagram of an anti-slip control method for a crawler vehicle in an embodiment of the present application;

[0026] Figure 2 It is a schematic flowchart of an anti-slip control method for a crawler vehicle provided in an embodiment of the present application;

[0027] Figure 3 It is a schematic diagram of the functional modules of an anti-slip control system for a crawler vehicle provided in another embodiment of the present application;

[0028] Figure 4 It is a schematic diagram of the structure of a computer device provided in an embodiment of the present application. Detailed Embodiments

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0030] To make the objectives, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] A track vehicle anti-slip control method provided by an embodiment of the present application can be applied to an application environment as Figure 1 shown. Among them, the terminal 102 communicates with the server 104 through a network. The data storage system can store the data that the server 104 needs to process. The data storage system can be set up separately, integrated on the server 104, placed in the cloud or on other servers. The terminal 102 can send the running speed of the track to be processed, the speed of the track vehicle, the rotational angular velocity of the sprocket, the output torque of the track vehicle, and the disturbance amount of the track vehicle to the server 104. After receiving the running speed of the track to be processed, the speed of the track vehicle, the rotational angular velocity of the sprocket, the output torque of the track vehicle, and the disturbance amount of the track vehicle, for the running speed of the track to be processed, the speed of the track vehicle, the rotational angular velocity of the sprocket, the output torque of the track vehicle, and the disturbance amount of the track vehicle, the server 104 determines the real-time slip ratio according to the running speed of the track, the speed of the track vehicle, and the rotational angular velocity of the sprocket; determines the optimal slip ratio according to the output torque of the track vehicle, the running speed of the track, and the rotational angular velocity of the sprocket; adopts an active disturbance rejection control strategy according to the real-time slip ratio, the optimal slip ratio, and the disturbance amount of the track vehicle to obtain a drive adjustment signal; adjusts the output torque of the track vehicle according to the drive adjustment signal to prevent the track vehicle from sliding. The server 104 can feedback the obtained output torque of the track vehicle to the terminal 102. In addition, in some embodiments, the track vehicle anti-slip control method can also be implemented independently by the server 104 or the terminal 102.

[0032] Among them, the terminal 102 can be, but is not limited to, various desktop computers, laptop computers, smart phones, tablet computers, Internet of Things devices, and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. The portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented by an independent server or a server cluster composed of multiple servers, and can also be a cloud server.

[0033] In an exemplary embodiment, Figure 2 As shown, a method for controlling anti-skid of a crawler vehicle is provided. The method is executed by a computer device, specifically a computer device such as a terminal or a server, or a terminal and a server. In the embodiment of the present application, the method is applied to Figure 1 The server 104 in FIG. 1 is taken as an example to illustrate the method, which includes the following steps 201 to 205. Among them:

[0034] Step 201 collects, in real time, the crawler track speed, crawler vehicle speed, sprocket angular velocity, crawler vehicle output torque, and crawler vehicle disturbance. The crawler vehicle disturbance is observed in real time using a disturbance observer. By collecting the real-time disturbance, the crawler vehicle can operate normally under different sediment characteristics and adhesion coefficients, making it suitable for most seabed environments.

[0035] Step 202: determining a real-time slip rate according to the running speed of the crawler track, the speed of the crawler vehicle, and the rotational angular velocity of the sprocket.

[0036] Step 203 : determining an optimal slip ratio according to the output torque of the crawler vehicle, the running speed of the crawler and the rotational angular velocity of the sprocket.

[0037] Step 204 : According to the real-time slip ratio, the optimal slip ratio and the disturbance of the crawler vehicle, an active disturbance rejection control strategy is adopted to obtain a drive adjustment signal.

[0038] Step 205: Adjust the output torque of the crawler vehicle according to the drive adjustment signal to prevent the crawler vehicle from sliding.

[0039] In another exemplary embodiment of the present application, the calculation formula of the real-time slip rate is:

[0040]

[0041] Among them, λ is the real-time slip rate, v is the running speed of the crawler, and v c is the speed of the tracked vehicle, ω is the angular velocity of the sprocket, and r is the radius of the sprocket.

[0042] In another exemplary embodiment of the present application, step 203 specifically includes: determining the optimal slip rate using the Grey Wolf optimization algorithm based on the output torque, the running speed of the track and the rotational angular velocity of the sprocket.

[0043] In another exemplary embodiment of the present application, step 204 specifically includes: calculating a deviation value according to the real-time slip ratio and the optimal slip ratio.

[0044] According to the deviation value and the disturbance amount of the tracked vehicle, an active disturbance rejection control strategy is adopted to obtain a drive adjustment signal.

[0045] This application receives the optimal slip ratio as a reference value in real time and dynamically adjusts the driving force through closed-loop control to ensure that the tracked vehicle has a good anti-slip effect and adapts to the complex geological characteristics in the seabed environment.

[0046] In another exemplary embodiment of this application, step 205 specifically includes: generating corresponding power through a deep-sea motor according to the drive adjustment signal.

[0047] The hydraulic drive system adjusts the output torque of the tracked vehicle according to the corresponding power. Ensure that the slip ratio of the tracked vehicle remains within the optimal range, enhancing the traction and stability of the tracked vehicle.

[0048] Advantages of this application: Traditional methods usually set a fixed slip ratio value, which is difficult to adapt to the changing sediment characteristics and adhesion coefficients in the deep-sea environment. This application dynamically adjusts the slip ratio by real-time monitoring the running speed of the track, the speed of the tracked vehicle, the rotational angular velocity of the sprocket, the output torque of the tracked vehicle, and the disturbance amount of the tracked vehicle, and can adapt to the complex and changeable deep-sea geological environment to ensure that the tracked vehicle can maintain stable traction in different areas.

[0049] Traditional anti-slip control methods lack a rapid response to external disturbances and are easily affected by the irregular seabed terrain and changes in sediment characteristics. This application introduces an active disturbance rejection control strategy, which can quickly offset external disturbances and significantly improve the anti-disturbance ability and stability of the tracked vehicle in extreme environments.

[0050] Traditional control methods usually ignore the energy consumption problem, which may lead to high energy consumption of the tracked vehicle in complex terrains. This application minimizes unnecessary energy consumption through real-time optimization and adjustment of the optimal slip ratio, thereby ensuring the best anti-slip effect in the complex seabed environment, improving the energy efficiency of the tracked vehicle, and extending the endurance time of the tracked vehicle.

[0051] Traditional methods are difficult to maintain efficient traction control under different seabed conditions, resulting in low operation efficiency. This application is based on the grey wolf optimization algorithm, which further improves the response speed and anti-interference ability of the active disturbance rejection control through the optimal slip ratio provided by the grey wolf optimization algorithm, so as to maintain stable traction and anti-slip effect in the dynamically changing deep-sea environment and ensure the efficiency and stability of deep-sea operations.

[0052] Traditional anti-slip control methods are mostly designed for land or shallow water environments and lack special optimization for extreme environments such as high pressure and low temperature in the deep sea. This application is specially designed for the deep-sea environment and can ensure the stable operation of the tracked vehicle in extreme environments, improving the reliability of the equipment in the deep-sea environment.

[0053] These advantages indicate that, compared with the traditional fixed slip rate control method, the present application significantly improves the anti-slip performance and energy efficiency of the deep-sea tracked vehicle by optimizing the dynamic adaptability of the algorithm and the fast responsiveness of the active disturbance rejection control, effectively solving the problems of poor adaptability and high energy consumption of the traditional method in deep-sea operations.

[0054] Based on the same inventive concept, as Figure 3 shown, an embodiment of the present application further provides an anti-slip control system for a tracked vehicle, including:

[0055] A data acquisition module 301, configured to collect in real time the running speed of the track, the speed of the tracked vehicle, the rotational angular velocity of the sprocket, the output torque of the tracked vehicle, and the disturbance amount of the tracked vehicle.

[0056] A real-time slip rate determination module 302, connected to the data acquisition module 301, configured to determine the real-time slip rate according to the running speed of the track, the speed of the tracked vehicle, and the rotational angular velocity of the sprocket.

[0057] An optimal slip rate determination module 303, connected to the data acquisition module 301, configured to determine the optimal slip rate according to the output torque of the tracked vehicle, the running speed of the track, and the rotational angular velocity of the sprocket.

[0058] A drive adjustment signal acquisition module 304, connected to the data acquisition module 301, the real-time slip rate determination module 302, and the optimal slip rate determination module 303, configured to adopt an active disturbance rejection control strategy according to the real-time slip rate, the optimal slip rate, and the disturbance amount of the tracked vehicle to obtain a drive adjustment signal.

[0059] An output torque adjustment module 305, connected to the drive adjustment signal acquisition module 304, configured to adjust the output torque of the tracked vehicle according to the drive adjustment signal to prevent the tracked vehicle from sliding.

[0060] In another exemplary embodiment of the present application, before the data acquisition module collects data, it further includes: the tracked vehicle is carried by a repeater and slowly lowered by the mother ship winch. After being lowered to a certain depth, the repeater winch releases the tracked vehicle, and the tracked vehicle freely falls at a suitable height above the bottom to achieve touchdown. During this process, the status of the real-time slip rate determination module, the optimal slip rate determination module, the drive adjustment signal acquisition module, and the output torque adjustment module is confirmed to ensure the normal operation of the tracked vehicle when it is working underwater. At the same time, after the tracked vehicle successfully lands on the seabed, the system will perform initial parameter calibration. Then, the data acquisition module collects in real time the running speed of the track, the speed of the tracked vehicle, the rotational angular velocity of the sprocket, the output torque of the tracked vehicle, and the disturbance amount of the tracked vehicle.

[0061] In an exemplary embodiment, a computer device is provided. The computer device can be a server or a terminal, and its internal structural diagram can be as shown in Figure 4 . The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store video tag processing data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through a network connection. When the computer program is executed by the processor, it implements a track vehicle anti-skid control method.

[0062] Those skilled in the art can understand that Figure 4 the structure shown in is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout. In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, it implements the steps in the above method embodiments.

[0063] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by the processor, it implements the above-mentioned track vehicle anti-skid control method.

[0064] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by the processor, it implements the above-mentioned track vehicle anti-skid control method.

[0065] 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 the present 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.

[0066] 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 various 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 (ReRAMs), magnetoresistive random access memories (MRAMs), ferroelectric random access memories (FRAMs), phase change memories (PCMs), graphene memories, etc. Volatile memories can include random access memories (RAMs) 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.

[0067] The databases involved in the various 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., without limitation. The processors involved in the various 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., without limitation.

[0068] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise 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 described in this specification.

[0069] Specific examples are used in this article to elaborate on the principles and implementation manners 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 manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this application.

Claims

1. An anti-slip control method for a crawler vehicle, characterized in that, The anti-slip control method for the crawler vehicle includes: Collecting in real time the running speed of the crawler, the speed of the crawler vehicle, the rotational angular velocity of the sprocket, the output torque of the crawler vehicle, and the disturbance amount of the crawler vehicle; Determining the real-time slip ratio according to the running speed of the crawler, the speed of the crawler vehicle, and the rotational angular velocity of the sprocket; Determining the optimal slip ratio according to the output torque of the crawler vehicle, the running speed of the crawler, and the rotational angular velocity of the sprocket; Adopting an active disturbance rejection control strategy according to the real-time slip ratio, the optimal slip ratio, and the disturbance amount of the crawler vehicle to obtain a drive adjustment signal; Adjusting the output torque of the crawler vehicle according to the drive adjustment signal to prevent the crawler vehicle from sliding.

2. The anti-slip control method of the crawler vehicle according to claim 1, wherein The disturbance amount of the crawler vehicle is obtained by real-time observation using a disturbance observer.

3. The anti-skid control method of the crawler vehicle according to claim 1, characterized in that The calculation formula for the real-time slip ratio is: where λ is the real-time slip ratio, v is the running speed of the crawler, v c is the speed of the crawler vehicle, ω is the rotational angular velocity of the sprocket, and r is the radius of the sprocket.

4. The anti-slip control method of the crawler vehicle according to claim 1, characterized in that Determining the optimal slip ratio according to the output torque, the running speed of the crawler, and the rotational angular velocity of the sprocket, specifically including: Adopting a grey wolf optimization algorithm according to the output torque, the running speed of the crawler, and the rotational angular velocity of the sprocket to determine the optimal slip ratio.

5. The anti-slip control method of the crawler vehicle according to claim 1, characterized in that Adopting an active disturbance rejection control strategy according to the real-time slip ratio, the optimal slip ratio, and the disturbance amount of the crawler vehicle to obtain a drive adjustment signal, specifically including: Calculating a deviation value according to the real-time slip ratio and the optimal slip ratio; Adopting an active disturbance rejection control strategy according to the deviation value and the disturbance amount of the crawler vehicle to obtain a drive adjustment signal.

6. The anti-slip control method of the crawler vehicle according to claim 1, wherein Adjusting the output torque of the crawler vehicle according to the drive adjustment signal, specifically including: Generating corresponding power through a deep-sea motor according to the drive adjustment signal; Adjusting the output torque of the crawler vehicle through a hydraulic drive system according to the corresponding power.

7. An anti-slip control system for a crawler vehicle, which applies the anti-slip control method for a crawler vehicle described in any one of claims 1-6, characterized in that, The anti-slip control system for the crawler vehicle includes: A data acquisition module for collecting in real time the running speed of the crawler, the speed of the crawler vehicle, the rotational angular velocity of the sprocket, the output torque of the crawler vehicle, and the disturbance amount of the crawler vehicle; A real-time slip ratio determination module connected to the data acquisition module for determining the real-time slip ratio according to the running speed of the crawler, the speed of the crawler vehicle, and the rotational angular velocity of the sprocket; An optimal slip ratio determination module connected to the data acquisition module for determining the optimal slip ratio according to the output torque of the crawler vehicle, the running speed of the crawler, and the rotational angular velocity of the sprocket; A drive adjustment signal acquisition module connected to the data acquisition module, the real-time slip ratio determination module, and the optimal slip ratio determination module for adopting an active disturbance rejection control strategy according to the real-time slip ratio, the optimal slip ratio, and the disturbance amount of the crawler vehicle to obtain a drive adjustment signal; An output torque adjustment module connected to the drive adjustment signal acquisition module for adjusting the output torque of the crawler vehicle according to the drive adjustment signal to prevent the crawler vehicle from sliding.

8. A computer device, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the anti-slip control method for the crawler vehicle according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the crawler vehicle anti-slip control method described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the crawler vehicle anti-slip control method described in any one of claims 1-6.

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