Control method and device for synchronizing a child vehicle of a mother-child vehicle and mother-child vehicle system

Abstract

The embodiment of the present disclosure discloses a control method and device for synchronization of child vehicles in a mother-vehicle and child-vehicle system, wherein the method comprises: sending a walking synchronization instruction to a first child vehicle and a second child vehicle to control the first child vehicle and the second child vehicle to walk synchronously; acquiring a first position of the first child vehicle and a second position of the second child vehicle in the process of synchronous walking; determining a position synchronization error between the first child vehicle and the second child vehicle based on the first position, the second position and a standard distance; determining a torque compensation amount of a walking motor of at least one of the first child vehicle and the second child vehicle based on the position synchronization error, a position synchronization proportional gain and a position synchronization differential gain; and compensating the torque of the walking motor of the at least one child vehicle based on the torque compensation amount. The embodiment of the present disclosure can greatly reduce the synchronous walking error between the double-vehicle child vehicles.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of mother-son vehicles, and particularly to a control method and device for synchronizing son vehicles in a mother-son vehicle and a mother-son vehicle system. BACKGROUND

[0002] The mother-son vehicle in the transportation industry includes a mother vehicle and multiple son vehicles loaded on the mother vehicle. When transporting goods, the mother vehicle and the son vehicles are both loaded with goods, and when returning, the son vehicles are loaded on the mother vehicle, thereby saving fuel and high-speed fees.

[0003] The traditional mother-son vehicle adopts open-loop control or single-speed closed-loop control. In heavy load working conditions, the double-vehicle son vehicle synchronization error is out of limit due to mechanical deformation, track flatness error, motor response difference, etc., thereby causing the risk of workpiece tilting, structural deformation, and even overturning.

[0004] How to control multiple son vehicles in a mother-son vehicle to be synchronized is a problem to be solved. SUMMARY

[0005] Embodiments of the present disclosure provide a control method and device for synchronizing son vehicles in a mother-son vehicle and a mother-son vehicle system to solve the above problems.

[0006] In a first aspect, the present disclosure provides a control method for synchronizing son vehicles in a mother-son vehicle, comprising:

[0007] sending a walking synchronization instruction to a first son vehicle and a second son vehicle to control the first son vehicle and the second son vehicle to walk synchronously;

[0008] obtaining a first position of the first son vehicle and a second position of the second son vehicle in the process of synchronous walking;

[0009] determining a position synchronization error between the first son vehicle and the second son vehicle based on the first position, the second position, and a standard distance;

[0010] determining a torque compensation amount of a walking motor of at least one of the first son vehicle and the second son vehicle based on the position synchronization error, a position synchronization proportional gain, and a position synchronization differential gain;

[0011] compensating the torque of the walking motor of the at least one son vehicle based on the torque compensation amount.

[0012] In some embodiments of the present disclosure, the torque compensation of the walking motor of the at least one son vehicle based on the torque compensation amount comprises:

[0013] determining a first output torque of a first walking motor of the first son vehicle based on the torque compensation amount and a reference output torque;

[0014] compensate the first traveling motor based on the first output torque;

[0015] determine a second output torque of a second traveling motor of the second sub-vehicle based on the torque compensation amount and the reference output torque, wherein a difference between the first output torque and the second output torque is the torque compensation amount;

[0016] compensate the second traveling motor of the second sub-vehicle based on the second output torque.

[0017] In some embodiments of the present disclosure, further comprising:

[0018] send a start-stop coordination instruction to the first sub-vehicle and the second sub-vehicle, and generate a speed curve of the first sub-vehicle and the second sub-vehicle based on a preset maximum running speed and a smoothing factor;

[0019] determine an acceleration feedforward compensation amount of each of the first sub-vehicle and the second sub-vehicle based on a moment of inertia, an acceleration, and a motor torque constant of each of the first sub-vehicle and the second sub-vehicle;

[0020] control the first sub-vehicle and the second sub-vehicle to start and stop synchronously based on the speed curve and the acceleration feedforward compensation amount.

[0021] In some embodiments of the present disclosure, further comprising:

[0022] equalize pressure of a first oil cylinder of the first sub-vehicle and a second oil cylinder of the second sub-vehicle;

[0023] send a synchronous jacking instruction to the first sub-vehicle and the second sub-vehicle to control the first sub-vehicle and the second sub-vehicle to jacking synchronously based on the first oil cylinder and the second oil cylinder;

[0024] obtain a relative height difference between the first sub-vehicle and the second sub-vehicle during the synchronous jacking;

[0025] determine a proportional valve compensation amount of at least one of the first oil cylinder and the second oil cylinder based on the relative height difference;

[0026] perform proportional-integral-derivative control on a proportional valve of the at least one of the first oil cylinder and the second oil cylinder based on the proportional valve compensation amount of the at least one of the first oil cylinder and the second oil cylinder.

[0027] In some embodiments of the present disclosure, the equalizing pressure of the first oil cylinder of the first sub-vehicle and the second oil cylinder of the second sub-vehicle comprises:

[0028] obtain a pressure difference between the first oil cylinder and the second oil cylinder;

[0029] adjust a pressure regulating valve of at least one of the first oil cylinder and the second oil cylinder based on the pressure difference.

[0030] In some embodiments of the present disclosure, after determining the position synchronization error between the first sub-vehicle and the second sub-vehicle based on the first position, the second position, and the standard distance, the method further comprises:

[0031] If the position synchronization error is greater than a maximum error threshold, the first sub-vehicle and the second sub-vehicle are sequentially decelerated, stopped, and mechanically locked.

[0032] In a second aspect of the embodiments of the present disclosure, a control device for synchronizing sub-vehicles in a master-slave vehicle is provided, comprising:

[0033] an instruction sending module configured to send a walking synchronization instruction to the first sub-vehicle and the second sub-vehicle to control the first sub-vehicle and the second sub-vehicle to walk synchronously;

[0034] a position obtaining module configured to obtain a first position of the first sub-vehicle and a second position of the second sub-vehicle during synchronous walking of the first sub-vehicle and the second sub-vehicle;

[0035] a position synchronization error determining module configured to determine a position synchronization error between the first sub-vehicle and the second sub-vehicle based on the first position, the second position, and a standard distance;

[0036] a torque compensation amount determining module configured to determine a torque compensation amount of a walking motor in at least one of the first sub-vehicle and the second sub-vehicle based on the position synchronization error, a position synchronization proportional gain, and a position synchronization differential gain;

[0037] a torque compensation module configured to compensate torque of the walking motor of the at least one sub-vehicle based on the torque compensation amount.

[0038] In some embodiments of the present disclosure, the torque compensation module comprises:

[0039] a first output torque determining unit configured to determine a first output torque of a first walking motor of the first sub-vehicle based on the torque compensation amount and a reference output torque;

[0040] a first torque compensation unit configured to compensate torque of the first walking motor based on the first output torque;

[0041] a second output torque determining unit configured to determine a second output torque of a walking motor of the second sub-vehicle based on the torque compensation amount and the reference output torque, wherein a difference between the first output torque and the second output torque is the torque compensation amount;

[0042] a second torque compensation unit, configured to perform torque compensation on a second traveling motor of the second sub-vehicle based on the second output torque.

[0043] In some embodiments of the present disclosure, the instruction sending module is further configured to send start-stop coordination instructions to the first sub-vehicle and the second sub-vehicle, and generate a speed curve of the first sub-vehicle and the second sub-vehicle based on a preset maximum running speed and a smoothing factor;

[0044] The device further comprises:

[0045] an acceleration feedforward compensation amount module, configured to determine an acceleration feedforward compensation amount of each of the first sub-vehicle and the second sub-vehicle based on a moment of inertia, an acceleration, and a motor torque constant of the each sub-vehicle;

[0046] a start-stop control module, configured to control the first sub-vehicle and the second sub-vehicle to start and stop synchronously based on the speed curve and the acceleration feedforward compensation amount.

[0047] In some embodiments of the present disclosure, the device further comprises:

[0048] a pressure equalization module, configured to perform pressure equalization on a first oil cylinder of the first sub-vehicle and a second oil cylinder of the second sub-vehicle;

[0049] a synchronous jacking module, configured to send synchronous jacking instructions to the first sub-vehicle and the second sub-vehicle, so as to control the first sub-vehicle and the second sub-vehicle to perform synchronous jacking based on the first oil cylinder and the second oil cylinder;

[0050] a relative height difference obtaining module, configured to obtain a relative height difference between the first sub-vehicle and the second sub-vehicle in a synchronous jacking process;

[0051] a proportional valve compensation amount determining module, configured to determine a proportional valve compensation amount of at least one of the first oil cylinder and the second oil cylinder based on the relative height difference;

[0052] a proportional-integral-derivative control module, configured to perform proportional-integral-derivative control on a proportional valve of the at least one of the first oil cylinder and the second oil cylinder based on the proportional valve compensation amount of the at least one of the first oil cylinder and the second oil cylinder.

[0053] In some embodiments of the present disclosure, the pressure equalization module is configured to obtain a pressure difference between the first oil cylinder and the second oil cylinder; and the pressure equalization module is further configured to adjust a pressure regulating valve of at least one of the first oil cylinder and the second oil cylinder based on the pressure difference.

[0054] In some embodiments of the present disclosure, the device further comprises:

[0055] A multi-stage control module is configured to, if the position synchronization error is greater than a maximum error threshold, sequentially slow down, stop and mechanically lock the first and second sub-cars.

[0056] In a third aspect of the embodiments of the present disclosure, an electronic device is provided, comprising:

[0057] A memory is configured to store a computer program product.

[0058] A processor is configured to execute the computer program product stored in the memory, and when the computer program product is executed, the method of the first aspect is implemented.

[0059] In a fourth aspect of the embodiments of the present disclosure, a computer readable storage medium is provided, which stores computer program instructions, and when the computer program instructions are executed by a processor, the method of the first aspect is implemented.

[0060] In a fifth aspect of the embodiments of the present disclosure, a computer program product is provided, which comprises computer program instructions, and when the computer program instructions are executed by a processor, the processor executes the method of the first aspect.

[0061] The control method, device and system for synchronizing the sub-cars in the mother and child car of the embodiments of the present disclosure can greatly reduce the synchronization walking error between the double sub-cars, because when the double sub-cars receive the synchronization walking instruction to perform synchronization walking, the distance between the double sub-cars is inconsistent with the standard distance due to mechanical deformation, track flatness error and motor response difference, so that the distance between the double sub-cars is collected in real time, compared with the standard distance, and at least one of the walking motors of the double sub-cars is compensated according to the comparison result.

[0062] The technical solutions of the present disclosure will be described in further detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0063] The accompanying drawings, which form a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0064] The present disclosure can be more clearly understood with reference to the following detailed description when considered in conjunction with the accompanying drawings, in which:

[0065] Figure 1 A flowchart of a control method for synchronizing the sub-cars in the mother and child car of an embodiment of the present disclosure is shown.

[0066] Figure 2 A structure block diagram of a control device for synchronizing the sub-cars in the mother and child car of an embodiment of the present disclosure is shown.

[0067] Figure 3A structural block diagram of an electronic device in one embodiment of the present disclosure. DETAILED DESCRIPTION

[0068] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement, numerical expressions, and numerical values of components and steps set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0069] As can be appreciated by those skilled in the art, the terms "first", "second", and the like in the embodiments of the present disclosure are used only to distinguish different steps, devices, or modules, and do not represent any specific technical meaning, nor do they indicate any logical sequence.

[0070] It should also be understood that "a plurality" in the embodiments of the present disclosure can mean two or more, and "at least one" can mean one, two, or more.

[0071] It should also be understood that, for any component, data, or structure mentioned in the embodiments of the present disclosure, one or more can be generally understood unless specifically limited or the context gives a contrary implication.

[0072] In addition, the term "and / or" in the present disclosure is merely a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in the present disclosure generally represents an "or" relationship between the front and rear associated objects.

[0073] It should also be understood that the description of various embodiments of the present disclosure emphasizes the differences between the various embodiments, and the same or similar parts can be referred to each other, and for the sake of brevity, will not be repeated.

[0074] The following description of at least one exemplary embodiment is merely illustrative in nature and does not in any way limit the disclosure and its application or uses.

[0075] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered part of the specification where appropriate.

[0076] It should be noted that similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0077] The embodiments of the present disclosure can be applied to terminal devices, computer systems, servers and other electronic devices, which can operate with many other general-purpose or special-purpose computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments, and / or configurations suitable for use with terminal devices, computer systems, servers and other electronic devices include, but are not limited to, personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, minicomputer systems, mainframe computer systems, and distributed cloud computing technology environments including any of the above systems, and the like.

[0078] Terminal devices, computer systems, servers and other electronic devices can be described in the general context of computer system executable instructions, such as program modules, executed by the computer system. Generally, program modules can include routines, programs, objects, components, logic, data structures, and the like, which perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in a distributed cloud computing environment, in which tasks are performed by remote processing devices that are linked through a communication network. In a distributed cloud computing environment, program modules can be located on local or remote computer system storage media, including storage devices.

[0079] Figure 1 The flowchart of the control method for the synchronization of the sub-car in the mother-car in one embodiment of the present disclosure is shown in FIG. 1. As shown in FIG. 1, the control method for the synchronization of the sub-car in the mother-car includes the following steps: Figure 1

[0080] S1: sending a walking synchronization instruction to the first sub-car and the second sub-car to control the first sub-car and the second sub-car to walk synchronously.

[0081] The central controller of the mother-car system sends a walking synchronization instruction to the first sub-car and the second sub-car. The walking synchronization instruction includes at least a target walking speed and a target walking distance.

[0082] After receiving the walking synchronization instruction, the first sub-car and the second sub-car travel at the target walking speed for the target walking distance, thereby realizing the synchronous walking of the first sub-car and the second sub-car.

[0083] S2: obtaining a first position of the first sub-car and a second position of the second sub-car in the synchronous walking process of the first sub-car and the second sub-car.

[0084] In the synchronous walking process of the first sub-car and the second sub-car, a plurality of laser range finders installed at a plurality of preset positions can be used to measure the distance of the first sub-car and the second sub-car respectively, and the coordinate values of the first sub-car and the second sub-car in the same coordinate system (for example, the world coordinate system) can be obtained according to the distance measurement results. ​

[0085] S3: determining a position synchronization error between the first sub-car and the second sub-car based on the first position, the second position and the standard distance.

[0086] The position synchronization error between the first sub-car and the second sub-car can be calculated by the following formula:

[0087] ΔS = |S A -S B |-S target

[0088] wherein ΔS represents the position synchronization error, S A represents the coordinate value of the first sub-car, S B represents the coordinate value of the second sub-car, and S target represents the standard distance.

[0089] If the position synchronization error ΔS is greater than a maximum error threshold (for example, 7 mm), it means that the position synchronization error ΔS is too large, and a third-level alarm is triggered to slow down, stop and mechanically lock the first sub-car and the second sub-car; if the position synchronization error ΔS is less than or equal to the maximum error threshold, step S4 is executed.

[0090] S4: determining a torque compensation amount of a walking motor of at least one of the first sub-car and the second sub-car based on the position synchronization error, a position synchronization proportional gain and a position synchronization differential gain.

[0091] The torque compensation amount of the walking motor of at least one of the first sub-car and the second sub-car can be calculated by the following formula:

[0092] ΔT = K p · ΔS + K d · d(ΔS) / dt

[0093] wherein ΔT represents the torque compensation amount, K p represents the position synchronization proportional gain, K d represents the position synchronization differential gain.

[0094] The setting principles of the position synchronization proportional gain K p and the position synchronization differential gain K d are as follows:

[0095] Rigid load (large workpiece rigidity): increasing the position synchronization proportional gain K p can quickly eliminate the error.

[0096] Flexible load (workpiece easy to deform): reducing the position synchronization proportional gain K p can avoid over-regulation.

[0097] The setting principles of the position synchronization differential gain K dGenerally, the position synchronization proportional gain K is 0.3-0.5 times of 0.3-0.5 p , and high-frequency oscillation can be inhibited.

[0098] S5: compensating the walking motor of at least one of the sub-cars based on the torque compensation amount.

[0099] In some optional embodiments of the present disclosure, step S5 can include the following steps:

[0100] S5-1: determining a first output torque of a first walking motor of a first sub-car based on the torque compensation amount and the reference output torque.

[0101] The first output torque of the first walking motor of the first sub-car can be calculated by the following formula:

[0102] T A =T base -ΔT / 2

[0103] wherein T A represents the first output torque.

[0104] S5-2: compensating the first walking motor based on the first output torque.

[0105] S5-3: determining a second output torque of a second walking motor of a second sub-car based on the torque compensation amount and the reference output torque.

[0106] The second output torque of the second walking motor of the second sub-car can be calculated by the following formula:

[0107] T B =T base +ΔT / 2

[0108] wherein T B represents the second output torque. The difference between the first output torque T A and the second output torque T B is the torque compensation amount ΔT.

[0109] S5-4: compensating the second walking motor based on the second output torque.

[0110] In the present embodiment, since the distance between the double sub-cars is inconsistent with the standard distance when the double sub-cars receive the synchronous walking instruction to walk synchronously due to mechanical deformation, track flatness error, and motor response difference in the mother-daughter car, the distance between the double sub-cars is collected in real time, compared with the standard distance, and at least one walking motor of the double sub-cars is compensated based on the comparison result, so that the synchronous walking error between the double sub-cars can be greatly reduced (e.g., within ±5 mm).

[0111] In some embodiments of the present disclosure, the following steps are further included:

[0112] S6: Send start-stop coordination instructions to the first and second sub-cars, and generate speed curves of the first and second sub-cars based on a preset maximum running speed and a smoothing factor.

[0113] The central controller sends start-stop coordination instructions to the first and second sub-cars to make the first and second sub-cars start and stop synchronously.

[0114] After the first and second sub-cars receive the start-stop coordination instructions, if the loads of the first and second sub-cars are greater than a preset load threshold (for example, 100 tons), the speed curves of the first and second sub-cars can be generated according to the following formula:

[0115] v(t)=V max / [1+e (-α·T) ]

[0116] wherein v(t) represents a speed curve running over time, V max represents the maximum running speed of the first and second sub-cars, a represents the smoothing factor of the speed curve, and T=t-t0.

[0117] S7: Determine the acceleration feedforward compensation amount of each sub-car based on the moment of inertia, acceleration, and motor torque constant of each sub-car among the first and second sub-cars.

[0118] The acceleration feedforward compensation amount of the first and second sub-cars can be generated according to the following formula:

[0119] U ff =J·a / K t

[0120] wherein U ff represents the acceleration feedforward compensation amount of the first and second sub-cars, J represents the moment of inertia of the first and second sub-cars, a represents the acceleration, and K t represents the motor torque constant.

[0121] S8: Control the first and second sub-cars to start and stop synchronously based on the speed curve and the acceleration feedforward compensation amount.

[0122] The central controller controls the first and second sub-cars to start and stop synchronously according to the speed curve v(t) and the acceleration feedforward compensation amount U ff .

[0123] In the embodiment, when the doublet of the doublet vehicle receives the start-stop coordination instruction for synchronous start-stop, the speed and acceleration of the doublet are inconsistent due to mechanical deformation, track flatness error, and motor response difference. Therefore, by smoothing the speed curve and compensating the acceleration according to the moment of inertia and motor torque constant, the start-stop coordination error between the doublets can be greatly reduced (for example, within ±0.1 m / s²).

[0124] In some embodiments of the present disclosure, the following steps are further included:

[0125] S9: Equalizing the pressure of the first oil cylinder of the first sub-car and the second oil cylinder of the second sub-car.

[0126] The central controller obtains the pressure P A of the first oil cylinder and the pressure P B of the second oil cylinder through the pressure sensor, and then sends a pressure equalization instruction according to the pressure P A of the first oil cylinder and the pressure P B of the second oil cylinder, so that the first oil cylinder and the first oil cylinder are pressure equalized (for example, the pressure difference △P=P A -P B ≤3bar), to ensure that the forces of the doublet are balanced and to avoid unbalanced loading.

[0127] S10: Sending a synchronous jacking instruction to the first sub-car and the second sub-car to control the first sub-car and the second sub-car to jacking synchronously based on the first oil cylinder and the second oil cylinder.

[0128] The central controller sends a synchronous jacking instruction to the first sub-car and the second sub-car to make the first sub-car and the second sub-car jacking synchronously.

[0129] S11: Obtaining the relative height difference of the first sub-car and the second sub-car during synchronous jacking.

[0130] The central processor collects the jacking height H A of the first sub-car and the jacking height H B of the second sub-car through the displacement sensor, and calculates the relative height difference ΔH=H A -H B of the first sub-car and the second sub-car during synchronous jacking.

[0131] S12: Determining the proportional valve compensation amount of at least one of the first oil cylinder and the second oil cylinder based on the relative height difference.

[0132] The central controller calculates the proportional valve compensation amount of at least one of the first oil cylinder and the second oil cylinder according to the relative height difference ΔH and the parameters of the first oil cylinder and the second oil cylinder (obtained from the oil cylinder manufacturer).

[0133] S13: Perform proportional-integral-derivative control on the proportional valve of the at least one oil cylinder based on the proportional valve compensation amount of the at least one oil cylinder.

[0134] When the proportional valve compensation amount of the at least one oil cylinder is the proportional valve compensation amount for the first oil cylinder, the central controller performs proportional-integral-derivative (PID) control on the first oil cylinder based on the proportional valve compensation amount.

[0135] When the proportional valve compensation amount of the at least one oil cylinder is the proportional valve compensation amount for the second oil cylinder, the central controller performs PID control on the second oil cylinder based on the proportional valve compensation amount.

[0136] When the proportional valve compensation amount of the at least one oil cylinder includes a first proportional valve compensation amount for the first oil cylinder and a second proportional valve compensation amount for the second oil cylinder, the central controller performs PID control on the first oil cylinder and the second oil cylinder based on the first proportional valve compensation amount and the second proportional valve compensation amount, respectively.

[0137] In this embodiment, when the double-carriage receives the synchronous lifting instruction to perform synchronous lifting, the height between the double carriages is inconsistent due to mechanical deformation, track flatness error, and motor response difference. Therefore, by performing PID control on the proportional valve of at least one of the first oil cylinder and the second oil cylinder, the synchronous lifting error between the double carriages can be greatly reduced (e.g., within ±2 mm).

[0138] Figure 2 A structural block diagram of a control device for synchronous control of a child carriage in some embodiments of a parent-child carriage. As shown in Figure 2 The control device for synchronous control of a child carriage in a parent-child carriage includes:

[0139] An instruction sending module 100 is configured to send a walking synchronization instruction to the first child carriage and the second child carriage to control the first child carriage and the second child carriage to walk synchronously.

[0140] A position acquisition module 200 is configured to acquire a first position of the first child carriage and a second position of the second child carriage during synchronous walking of the first child carriage and the second child carriage.

[0141] A position synchronization error determination module 300 is configured to determine a position synchronization error between the first child carriage and the second child carriage based on the first position, the second position, and a standard distance.

[0142] A torque compensation amount determination module 400 is configured to determine a torque compensation amount of a walking motor of at least one of the first child carriage and the second child carriage based on the position synchronization error, a position synchronization proportional gain, and a position synchronization differential gain.

[0143] A torque compensation module 500 is configured to perform torque compensation on the walking motor of the at least one child carriage based on the torque compensation amount.

[0144] In some embodiments of the present disclosure, the torque compensation module 500 comprises:

[0145] a first output torque determination unit configured to determine a first output torque of a first traveling motor of the first sub-vehicle based on the torque compensation amount and a reference output torque;

[0146] a first torque compensation unit configured to compensate the torque of the first traveling motor based on the first output torque;

[0147] a second output torque determination unit configured to determine a second output torque of a second traveling motor of the second sub-vehicle based on the torque compensation amount and the reference output torque, wherein the difference between the first output torque and the second output torque is the torque compensation amount;

[0148] a second torque compensation unit configured to compensate the torque of the second traveling motor of the second sub-vehicle based on the second output torque.

[0149] In some embodiments of the present disclosure, the instruction sending module 100 is further configured to send a start-stop coordination instruction to the first sub-vehicle and the second sub-vehicle, and generate a speed curve of the first sub-vehicle and the second sub-vehicle based on a preset maximum running speed and a smoothing factor;

[0150] The device further comprises:

[0151] an acceleration feedforward compensation amount module configured to determine an acceleration feedforward compensation amount of each of the first sub-vehicle and the second sub-vehicle based on the moment of inertia, the acceleration, and the motor torque constant of each of the first sub-vehicle and the second sub-vehicle;

[0152] a start-stop control module configured to control the first sub-vehicle and the second sub-vehicle to start and stop synchronously based on the speed curve and the acceleration feedforward compensation amount.

[0153] In some embodiments of the present disclosure, the device further comprises:

[0154] a pressure equalization module configured to equalize the pressure of a first oil cylinder of the first sub-vehicle and a second oil cylinder of the second sub-vehicle;

[0155] a synchronous jacking module configured to send a synchronous jacking instruction to the first sub-vehicle and the second sub-vehicle to control the first sub-vehicle and the second sub-vehicle to jack synchronously based on the first oil cylinder and the second oil cylinder;

[0156] a relative height difference obtaining module configured to obtain a relative height difference between the first sub-vehicle and the second sub-vehicle during the synchronous jacking process;

[0157] a proportional valve compensation amount determination module configured to determine a proportional valve compensation amount of at least one of the first oil cylinder and the second oil cylinder based on the relative height difference;

[0158] A proportional-integral-derivative control module is configured to perform proportional-integral-derivative control on the proportional valve of the at least one oil cylinder based on the proportional valve compensation amount of the at least one oil cylinder.

[0159] In some embodiments of the present disclosure, the pressure equalization module is configured to obtain a pressure difference between the first oil cylinder and the second oil cylinder, and adjust the pressure regulating valve of the at least one oil cylinder between the first oil cylinder and the second oil cylinder based on the pressure difference.

[0160] In some embodiments of the present disclosure, the device further comprises:

[0161] A multi-stage control module is configured to sequentially perform deceleration, shutdown and mechanical locking on the first sub-car and the second sub-car if the position synchronization error is greater than the maximum error threshold.

[0162] It should be noted that the specific implementation of the control device for sub-car synchronization in the sub-mother car of the embodiments of the present disclosure is similar to the specific implementation of the control method for sub-car synchronization in the sub-mother car of the embodiments of the present disclosure, and the technical effects of the control device for sub-car synchronization in the sub-mother car of the embodiments of the present disclosure are similar to the technical effects of the control method for sub-car synchronization in the sub-mother car of the embodiments of the present disclosure. For details, refer to the description of the control method for sub-car synchronization in the sub-mother car part. In order to reduce redundancy, no further description is made.

[0163] In addition, the embodiments of the present disclosure also provide a sub-mother car system, comprising:

[0164] A sub-mother car, wherein the sub-mother car at least comprises a mother car, a first sub-car and a second sub-car.

[0165] A central controller comprising the control device for sub-car synchronization in the sub-mother car described above, and configured to control the first sub-car and the second sub-car.

[0166] In addition, the embodiments of the present disclosure also provide an electronic device, comprising:

[0167] A memory configured to store a computer program;

[0168] A processor configured to execute the computer program stored in the memory, and when the computer program is executed, the control method for sub-car synchronization in the sub-mother car described in any of the embodiments of the present disclosure is implemented.

[0169] In the following, the electronic device according to the embodiments of the present disclosure is described with reference to Figure 3 As shown in Figure 3 The electronic device comprises one or more processors and a memory.

[0170] The processor can be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and can control other components in the electronic device to perform desired functions.

[0171] The memory can store one or more computer program products, which can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory, for example, can include random access memory (RAM), and / or a cache, and / or the like. The non-volatile memory, for example, can include read-only memory (ROM), hard disk, flash memory, and / or the like. On the computer-readable storage media, one or more computer program products can be stored, which the processor can execute to implement the control method for synchronization of a child vehicle in a parent-child vehicle according to various embodiments of the present disclosure described above and / or other desired functions.

[0172] In one example, the electronic device can further include an input device and an output device, which are interconnected through a bus system and / or other forms of connection mechanism (not shown).

[0173] In addition, the input device can further include, for example, a keyboard, a mouse, and / or the like.

[0174] The output device can output various information, including the determined distance information, direction information, and / or the like, to the outside. The output device can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and / or the like.

[0175] Of course, in order to simplify, Figure 3 In FIG. 1, only some of the components of the electronic device related to the present disclosure are illustrated, and components such as a bus, an input / output interface, and / or the like are omitted. In addition to this, the electronic device can further include any other appropriate components according to a specific application.

[0176] In addition to the above-described method and device, embodiments of the present disclosure can be a computer program product including computer program instructions that, when executed by a processor, cause the processor to perform the steps of the control method for synchronization of a child vehicle in a parent-child vehicle according to various embodiments of the present disclosure described in the above part of the specification.

[0177] The computer program product can be written in any combination of one or more programming languages, including an object-oriented programming language such as Java, C++, and / or the like, and conventional procedural programming languages, such as the "C" programming language, or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

[0178] Furthermore, an embodiment of the present disclosure can also be a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the steps described in the foregoing description of various embodiments of the present disclosure for controlling synchronization of a child vehicle in a parent-child vehicle.

[0179] The computer readable storage medium can be any combination of one or more computer readable medium(s). The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0180] The above describes the basic principles of the present disclosure in conjunction with specific embodiments, but it should be noted that the advantages, benefits, effects and the like mentioned in the present disclosure are only examples and are not limiting, and these advantages, benefits, effects and the like cannot be considered as necessary for each embodiment of the present disclosure. In addition, the above specific details are only for the purpose of example and for the purpose of understanding, and the above details do not limit the present disclosure to be necessarily implemented with the above specific details.

[0181] Each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between each embodiment can be understood by mutual reference. For system embodiments, since they basically correspond to method embodiments, the description is relatively simple, and the relevant parts can be understood by referring to the part of the method embodiment.

[0182] The block diagrams of the devices, apparatuses, equipment, systems involved in the present disclosure are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be as shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include", "contain", "have" and the like are open-ended words, mean "including but not limited to", and can be used interchangeably. The words "or" and "and" used herein mean the word "and / or", and can be used interchangeably unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably.

[0183] The methods and apparatus of the present disclosure can be implemented in a number of ways. For example, the methods and apparatus of the present disclosure can be implemented using software, hardware, firmware, or any combination of software, hardware, and firmware. The order of any steps described above is merely exemplary and the steps of the methods of the present disclosure need not be performed in the order described unless otherwise specified. Furthermore, in some embodiments, the present disclosure can also be implemented as a program for running on a computer or a processor to implement the methods according to the present disclosure. Thus, the present disclosure also covers a record medium storing the program in a non-transitory manner. The program can be realized in any of the following forms: an object code, a code composed of a program language that can be interpreted by a computer, or a code composed of a language that can be converted into a machine language by an interpreter.

[0184] It is also noted that the methods of the present disclosure can be implemented by a computer or a processor programmed to perform the steps of the methods. Furthermore, the present disclosure also covers a record medium storing the program in a non-transitory manner.

[0185] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0186] The above description has been presented for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although various example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A control method for synchronizing a child vehicle in a parent-child vehicle, characterized by, The method comprises: sending a walking synchronization instruction to the first sub-car and the second sub-car to control the first sub-car and the second sub-car to walk synchronously; obtaining a first position of the first sub-car and a second position of the second sub-car during synchronous walking of the first sub-car and the second sub-car; determining a position synchronization error between the first sub-car and the second sub-car based on the first position, the second position and a standard distance; determining a torque compensation amount of a walking motor of at least one of the first sub-car and the second sub-car based on the position synchronization error, a position synchronization proportional gain and a position synchronization differential gain; compensating the torque of the walking motor of the at least one sub-car based on the torque compensation amount; sending a start-stop coordination instruction to the first sub-car and the second sub-car, if the load of the first sub-car and the second sub-car is greater than a preset load threshold, generating a speed curve of the first sub-car and the second sub-car based on a preset maximum running speed and a smoothing factor; determining an acceleration feedforward compensation amount of each of the first sub-car and the second sub-car based on the moment of inertia, the acceleration and the motor torque constant of each of the first sub-car and the second sub-car; controlling the first sub-car and the second sub-car to start and stop synchronously based on the speed curve and the acceleration feedforward compensation amount.

2. The method of claim 1, wherein, The torque compensation of the walking motor of the at least one sub-car based on the torque compensation amount comprises: determining a first output torque of a first walking motor of the first sub-car based on the torque compensation amount and a reference output torque; compensating the torque of the first walking motor based on the first output torque; determining a second output torque of a second walking motor of the second sub-car based on the torque compensation amount and the reference output torque, wherein the difference between the first output torque and the second output torque is the torque compensation amount; compensating the torque of the second walking motor of the second sub-car based on the second output torque.

3. The method of claim 1, wherein, Further comprising: equalizing the pressure of a first oil cylinder of the first sub-car and a second oil cylinder of the second sub-car; sending a synchronous jacking instruction to the first sub-car and the second sub-car to control the first sub-car and the second sub-car to jacking synchronously based on the first oil cylinder and the second oil cylinder; obtaining a relative height difference of the first sub-car and the second sub-car during synchronous jacking; determining a proportional valve compensation amount of at least one of the first oil cylinder and the second oil cylinder based on the relative height difference; proportional integral differential controlling the proportional valve of the at least one oil cylinder based on the proportional valve compensation amount of the at least one oil cylinder.

4. The method of claim 3, wherein, The pressure equalization of the first oil cylinder of the first sub-car and the second oil cylinder of the second sub-car comprises: obtaining a pressure difference between the first oil cylinder and the second oil cylinder; adjusting the pressure regulating valve of at least one of the first oil cylinder and the second oil cylinder based on the pressure difference.

5. The method according to any one of claims 1 to 4, characterized in that, After determining the position synchronization error between the first sub-car and the second sub-car based on the first position, the second position and the standard distance, further comprising: If the position synchronization error is greater than a maximum error threshold, the first sub-car and the second sub-car are sequentially decelerated, stopped, and mechanically locked.

6. A control device for synchronizing a sub-car in a mother and child car, characterized by, The method comprises the steps of: sending a walking synchronization instruction to the first sub-car and the second sub-car to control the first sub-car and the second sub-car to walk synchronously, and sending a start-stop coordination instruction to the first sub-car and the second sub-car; acquiring a first position of the first sub-car and a second position of the second sub-car during synchronous walking of the first sub-car and the second sub-car; determining a position synchronization error between the first sub-car and the second sub-car based on the first position, the second position, and a standard interval; determining a torque compensation amount of a walking motor of at least one of the first sub-car and the second sub-car based on the position synchronization error, a position synchronization proportional gain, and a position synchronization differential gain; compensating torque of the walking motor of the at least one sub-car based on the torque compensation amount; if the load of the first sub-car and the second sub-car is greater than a preset load threshold, generating a speed curve of the first sub-car and the second sub-car based on a preset maximum running speed and a smoothing factor, and determining an acceleration feedforward compensation amount of each of the first sub-car and the second sub-car based on the moment of inertia, the acceleration, and the motor torque constant of each of the first sub-car and the second sub-car; controlling the first sub-car and the second sub-car to start and stop synchronously based on the speed curve and the acceleration feedforward compensation amount.

7. A mother-daughter system, characterized in that The method comprises the steps of: The sub-car comprises a parent car, a first sub-car, and a second sub-car. The central controller comprises the device of claim 6 and is used to control the first sub-car and the second sub-car.

8. A computer-readable storage medium having stored thereon computer program instructions, wherein, The computer program instructions are executed by a processor to implement the method of any one of claims 1-5.

9. A computer program product, characterised in that, The computer program instructions are executed by a processor to implement the method of any one of claims 1-5.

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