Erecting vehicle erecting control method and device based on decoupling control
By using decoupling control methods and PID control, the problem of inaccurate movement of the erecting vehicle on inclined ground was solved, and precise control of the erecting vehicle was achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHANGSHA ZHONGLIAN HENGTONG MACHINERY
- Filing Date
- 2025-12-11
- Publication Date
- 2026-05-05
AI Technical Summary
Traditional erection devices cause inaccurate movement of the erection vehicle on inclined ground, resulting in coupling problems between the erection and slewing systems.
A decoupled control method is adopted, which constructs a transformation matrix between the geodetic coordinate system and the vehicle coordinate system to convert the target parameters in the geodetic coordinate system into the execution parameters in the vehicle coordinate system, and uses PID control to achieve precise erection action.
It achieves precise control of the erecting vehicle's movements on inclined ground, avoiding overshoot, oscillation, or lag, and ensuring that the erecting mechanism completes the operation smoothly and accurately according to the preset trajectory.
Smart Images
Figure CN121979286A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of mechanical control technology, and more specifically to a method and device for controlling the erection of an erecting vehicle based on decoupling control. Background Technology
[0002] Traditional erection devices use two erection cylinders as the power actuators. One end of each cylinder is hinged to the base, and the other end is hinged to the erection frame. The synchronous extension and retraction of the two cylinders drives the erection frame to move, thereby erecting the launcher to the specified angle. An inclined ground will cause coupling between the erection and slewing subsystems of the erection vehicle, resulting in inaccurate erection movements. Summary of the Invention
[0003] This application aims to provide a method and device for controlling the erection of an erecting vehicle based on decoupling control, so as to achieve precise control of the actions of the erecting vehicle.
[0004] Firstly, a method for controlling the erection of an erecting vehicle based on decoupling control is provided, the method comprising: In response to receiving the erection target instruction, determine whether the erection vehicle is interlocked based on the current signal status of the erection vehicle; When the erecting vehicle is not interlocked, the target parameters are decoupled and calculated based on the attitude of the erecting vehicle to obtain the target erecting angle and the target turning angle. The target parameters include the longitudinal tilt angle, the lateral tilt angle, the orientation angle, the current turning angle of the vehicle body, and the current erecting angle of the vehicle body. Determine whether the target's vertical angle exceeds the vertical limit angle and whether the target's slewing angle exceeds the slewing limit angle. If the target erection angle does not exceed the erection limit angle and the target rotation angle does not exceed the rotation limit angle, PID control is used to perform the erection action.
[0005] Optionally, the decoupling calculation based on the attitude of the erecting vehicle includes: Construct the coordinate transformation matrix between the geodetic coordinate system and the vehicle coordinate system; Based on the coordinate transformation matrix, the target parameters in the geodetic coordinate system are converted into execution parameters in the vehicle coordinate system. The execution parameters include the target vertical angle and the target rotation angle.
[0006] Optionally, the step of converting the target parameters in the geodetic coordinate system into execution parameters in the vehicle coordinate system based on the coordinate transformation matrix includes: Obtain the target's vertical angle in the geodetic coordinate system; Convert the target's vertical angle in the geodetic coordinate system into a vector form; Based on the coordinate transformation matrix, the vector of the target starting angle is mapped to the vehicle coordinate system to obtain the starting vector in the vehicle coordinate system; The angle between the vertical vector and the vehicle body reference horizontal plane is determined as the target vertical angle.
[0007] Optionally, converting the target parameters in the geodetic coordinate system into execution parameters in the vehicle coordinate system based on the coordinate transformation matrix includes: Obtain the target azimuth in the geodetic coordinate system; Subtracting the orientation angle of the erecting vehicle from the target azimuth angle in the geodetic coordinate system yields the theoretical rotation compensation angle. The difference between the theoretical slewing compensation angle and the current vehicle body slewing angle is determined as the target slewing angle.
[0008] Optionally, the step of performing PID control for erection when the target erection angle does not exceed the erection limit angle and the target slewing angle does not exceed the slewing limit angle includes: Determine a first difference between the target erection angle and the current vehicle body erection angle; Determine a second difference between the target turning angle and the current vehicle body turning angle; The first difference and the second difference are used as the system excitation for position closed-loop PID control.
[0009] Secondly, a decoupling control-based erection vehicle erection control device is provided, the device comprising: The determination module is used to determine whether the erection vehicle is interlocked based on the current signal status of the erection vehicle in response to receiving the erection target instruction; The decoupling module is used to perform decoupling calculations on target parameters based on the posture of the erecting vehicle when the erecting vehicle is not interlocked, to obtain the target erecting angle and the target slewing angle. The target parameters include the longitudinal tilt angle, the lateral tilt angle, the orientation angle, the current vehicle body slewing angle, and the current vehicle body erecting angle of the erecting vehicle. The judgment module is used to determine whether the target erection angle exceeds the erection limit angle and whether the target rotation angle exceeds the rotation limit angle. The control module is used to perform PID control of the erection action when the target erection angle does not exceed the erection limit angle and the target rotation angle does not exceed the rotation limit angle.
[0010] Thirdly, an electronic device is provided, comprising: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the decoupled control-based erection vehicle erection control method provided in the first aspect of the embodiments of this application.
[0011] Fourthly, a machine-readable storage medium is provided, on which instructions are stored, the instructions being used to cause a machine to execute the above-described decoupled control-based erection vehicle erection control method.
[0012] Fifthly, a computer program product is provided, wherein when the instructions in the computer program product are executed by the processor of an electronic device, the electronic device performs the above-described decoupling control-based erection vehicle erection control method.
[0013] Based on the aforementioned decoupled control-based erection vehicle erection control method, in response to receiving an erection target command, the method determines whether the erection vehicle is interlocked based on its current signal state. If the erection vehicle is not interlocked, the target parameters are decoupled and calculated based on the vehicle's attitude to obtain the target erection angle and target slewing angle. These target parameters include the vehicle's pitch angle, roll angle, orientation angle, current vehicle slewing angle, and current vehicle erection angle. The method then determines whether the target erection angle exceeds the erection limit angle and whether the target slewing angle exceeds the slewing limit angle. If both the target erection angle and slewing angle do not exceed the slewing limit angle, PID control is applied to initiate the erection action. Thus, through the decoupled control algorithm, the erection parameters in the geodetic coordinate system are transformed to the vehicle's coordinate system, achieving precise control of the vehicle's movements. Attached Figure Description
[0014] Figure 1 This is a flowchart illustrating the erection control method for an erection vehicle based on decoupling control provided in an embodiment of this application. Figure 2 This is a schematic diagram illustrating the definition of the spatial coordinate system for erecting vehicles provided in an embodiment of this application; Figure 3 This is a schematic diagram of spatial coordinate transformation provided in an embodiment of this application; Figure 4 This is a flowchart illustrating a decoupling control method for an erecting vehicle that considers the attitude of the erecting vehicle, according to a specific embodiment of this application. Figure 5 This is a schematic diagram of the structure of the erection control device for an erection vehicle based on decoupling control provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of an erecting vehicle provided in a specific embodiment of this application; Figure 7 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation
[0015] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.
[0016] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0017] The following description, in conjunction with the accompanying drawings, details the erection control method and apparatus for erecting vehicles based on decoupling control provided in this application, through specific embodiments and application scenarios.
[0018] Please see Figure 1 This is a flowchart illustrating a decoupling-based vehicle erection control method provided in an embodiment of this application. This method is applied to electronic devices. Figure 1 As shown, the method includes the following steps S100 to S400.
[0019] Step S100: In response to receiving the erection target instruction, determine whether the erection vehicle is interlocked based on the current signal status of the erection vehicle.
[0020] In this embodiment, the erecting vehicle is a special-purpose vehicle capable of converting a transported heavy object from a horizontal to a vertical position (or vice versa). The erecting interlock of the erecting vehicle is a mechanical, hydraulic, or electrical linkage restriction to prevent safety accidents caused by misoperation or abnormal equipment status during the erection process.
[0021] Step S200: When the erecting vehicle is not interlocked, the target parameters are decoupled and calculated according to the attitude of the erecting vehicle to obtain the target erecting angle and the target turning angle. The target parameters include the longitudinal tilt angle, the lateral tilt angle, the orientation angle, the current turning angle, and the current erecting angle of the vehicle.
[0022] In this embodiment, the inclined ground causes coupling between the erection and slewing subsystems of the erecting vehicle. Therefore, when the erecting vehicle is not interlocked, decoupling control is performed on the two coupled actions. The target parameters are calculated based on the attitude of the erecting vehicle to obtain the target erection angle and the target slewing angle. Specifically, during the decoupling calculation, a coordinate transformation matrix between the geodetic coordinate system and the vehicle coordinate system is first constructed; then, based on the coordinate transformation matrix, the target parameters in the geodetic coordinate system are converted into the target erection angle and the target slewing angle in the vehicle coordinate system.
[0023] Step S300: Determine whether the target erection angle exceeds the erection limit angle and whether the target rotation angle exceeds the rotation limit angle.
[0024] In this embodiment, the erection limit angle refers to the upper limit of the maximum angle and the lower limit of the minimum angle that the erection mechanism is allowed to rotate during the erection operation. The slewing limit angle is a safety boundary parameter for the rotation angle of the erection vehicle in the horizontal plane, i.e., the maximum left / right turn angle limit.
[0025] Step S400: If the target erection angle does not exceed the erection limit angle and the target rotation angle does not exceed the rotation limit angle, perform PID control erection action.
[0026] In this embodiment, PID control is applied to the erection action when the target erection angle does not exceed the erection limit angle and the target slewing angle does not exceed the slewing limit angle. In the erection action of the erection vehicle, PID control achieves precise closed-loop control of the erection angle, speed, and torque through the coordinated action of proportional (P), integral (I), and derivative (D) components. This allows the erection mechanism to smoothly and accurately complete the erection operation according to a preset trajectory, avoiding problems such as overshoot, oscillation, or lag.
[0027] Calculate the difference between the target starting angle and the current starting angle. The difference between the target turning angle and the current vehicle turning angle Using calculation , This serves as the system excitation for the position closed-loop PID control. Specifically, when the difference is positive, the PID outputs a positive control quantity (driving the mechanism to move towards the target angle); when the difference is negative, the PID outputs a negative control quantity (driving the mechanism to retract to the target angle); and when the difference is 0, the output remains in a steady state.
[0028] Through steps S100-S400, in response to receiving the erection target command, the system determines whether the erection vehicle is interlocked based on its current signal status. If the erection vehicle is not interlocked, the target parameters are decoupled and calculated based on the vehicle's attitude to obtain the target erection angle and target slewing angle. The target parameters include the vehicle's pitch angle, roll angle, orientation angle, current vehicle slewing angle, and current vehicle erection angle. The system then determines whether the target erection angle exceeds the erection limit angle and whether the target slewing angle exceeds the slewing limit angle. If neither the target erection angle nor the target slewing angle exceeds the slewing limit angle, PID control is applied to the erection action. Thus, through the decoupled control algorithm, the erection parameters in the geodetic coordinate system are transformed to the vehicle's coordinate system, achieving precise control of the vehicle's actions.
[0029] In some implementations, the decoupling calculation based on the attitude of the erecting vehicle includes: Construct the coordinate transformation matrix between the geodetic coordinate system and the vehicle coordinate system; Based on the coordinate transformation matrix, the target parameters in the geodetic coordinate system are converted into execution parameters in the vehicle coordinate system. The execution parameters include the target vertical angle and the target rotation angle.
[0030] Specifically, the first step is to construct the coordinate transformation matrix between the geodetic coordinate system and the vehicle coordinate system. Figure 2 This is a schematic diagram illustrating the definition of the spatial coordinate system for the erecting vehicle provided in an embodiment of this application. For example... Figure 2 As shown, -O Using the geodetic coordinate system, The positive direction is due north. The positive direction is due west. The positive direction is the upward direction normal to the horizontal plane. I-OXYZ is the coordinate system of the erecting vehicle. The positive X direction is the forward direction of the rear of the erecting vehicle, the positive Y direction is the right-to-left direction of the erecting vehicle, and the positive Z direction is the upward direction normal to the plane of the erecting vehicle.
[0031] Erect vehicle orientation angle The angle between the projection line of the vertical centerline of the Beidou positioning device 202 in the geodetic coordinate system and the due north direction, with clockwise being positive. Target angle. The starting angle for erecting the central axis in the geodetic coordinate system. Target angle. The azimuth angle of the erected central axis in the geodetic coordinate system. Target angle. This refers to the erection angle of the centerline in the vehicle's coordinate system. Target angle. This refers to the orientation angle of the centerline of the erection vehicle in the coordinate system. The tilt angle of the erection vehicle. The x-axis of the vehicle being erected is the angle between the vehicle's coordinate axis and the ground plane, with upwards being the positive direction. The tilt angle of the erected vehicle is... The angle between the vehicle's Y-axis and the ground plane is defined as the vertical direction, with upwards being the positive direction.
[0032] Because the vehicle's posture during erection couples the erection and rotation actions, it is necessary to use a geodetic coordinate system to erect the vehicle to the target position. -O The target position is transformed into the I-OXYZ coordinate system of the erecting vehicle, thereby achieving decoupling control. Let the vector coordinates of the target position of the erecting vehicle in the geodetic coordinate system be (X0, Y0, Z0), which can be expressed as:
[0033] If the vector coordinates in the vehicle's coordinate system are set to (X, Y, Z), then the target angle... and target angle It can be represented as:
[0034] To transform vector coordinates from the geodetic coordinate system to the vehicle's coordinate system, it is necessary to analyze the transformation relationship between the two coordinate systems. A schematic diagram of spatial coordinate transformation is shown below. Figure 3 As shown. The coordinate transformation analytical process includes: like Figure 3 As shown in (a), in the geodetic coordinate system -O Around Rotation To obtain the coordinate system -O , -O Switch to -O The transformation matrix is:
[0035] like Figure 3 As shown in (b). The coordinate system will be... -O Around Rotation To obtain the coordinate system -O , -O Switch to -O The transformation matrix is:
[0036] like Figure 3 As shown in (c), in the coordinate system -O Rotate around X To obtain the coordinate system - , -O Switch to - The transformation matrix is:
[0037] in, , -O After three transformations, we obtain - The transformation matrix is:
[0038] Let the vector coordinates before the transformation be... After transformation, it becomes Then the decoupling transformation relationship can be obtained as follows: .
[0039] In some embodiments, performing PID control of the erection action when the target erection angle does not exceed the erection limit angle and the target slewing angle does not exceed the slewing limit angle includes: Determine a first difference between the target erection angle and the current vehicle body erection angle; Determine a second difference between the target turning angle and the current vehicle body turning angle; The first difference and the second difference are used as the system excitation for position closed-loop PID control.
[0040] Specifically, calculate the difference between the target starting angle and the current starting angle. The difference between the target turning angle and the current vehicle turning angle Using calculation , This serves as the system excitation for the position closed-loop PID control. Specifically, when the difference is positive, the PID outputs a positive control quantity (driving the mechanism to move towards the target angle); when the difference is negative, the PID outputs a negative control quantity (driving the mechanism to retract to the target angle); and when the difference is 0, the output remains in a steady state.
[0041] Please see Figure 4 This is a flowchart illustrating a decoupling control method for an erecting vehicle that considers the vehicle's attitude, provided in a specific embodiment of this application. Figure 4 As shown, the method includes the following steps: S401: Start; S402: The erection control software has received the erection target instruction; S403: Based on the current signal status of the erecting vehicle, determine whether the erection interlock is established. If the erection interlock condition is not met, proceed to process step S404; otherwise, proceed to process step S409. S404: Preparing for erection; S405: Decoupling calculation considering the erection of the vehicle body attitude. Obtain the target angle. , vehicle tilt angle , vehicle tilt angle Erecting vehicle orientation angle And the current vehicle body rotation angle collected by the rotary encoder. The current vehicle body vertical angle collected by the vertical angle detection device And perform decoupling calculations to convert the geodetic coordinate system -O The erection parameters are converted to the erection vehicle coordinate system I0-OXYZ.
[0042] S406: Determine if the erection exceeds the limit. After decoupling calculation, determine if the target erection angle and rotation target angle exceed the critical constraints. If they do not exceed the critical constraints, proceed to process step S407; if they exceed the critical constraints, the process ends.
[0043] S407: Perform PID control for erection. Calculate the difference between the target erection angle and the current erection angle. The difference between the target's initial rotation angle and the current rotation angle. Using calculation , As the system excitation for position closed-loop PID control.
[0044] S408: Determine whether the column has been erected in place.
[0045] S409: End.
[0046] Please see Figure 5 This is a schematic diagram of the structure of the erection control device for an erection vehicle based on decoupling control provided in an embodiment of this application. A second aspect of this application provides an erection control device for an erection vehicle based on decoupling control, the device comprising: The determination module is used to determine whether the erection vehicle is interlocked based on the current signal status of the erection vehicle in response to receiving the erection target instruction; The decoupling module is used to perform decoupling calculations on target parameters based on the posture of the erecting vehicle when the erecting vehicle is not interlocked, to obtain the target erecting angle and the target slewing angle. The target parameters include the longitudinal tilt angle, the lateral tilt angle, the orientation angle, the current vehicle body slewing angle, and the current vehicle body erecting angle of the erecting vehicle. The judgment module is used to determine whether the target erection angle exceeds the erection limit angle and whether the target rotation angle exceeds the rotation limit angle. The control module is used to perform PID control of the erection action when the target erection angle does not exceed the erection limit angle and the target rotation angle does not exceed the rotation limit angle.
[0047] The erection control device for erection vehicles based on decoupling control provided in the second aspect of this application can realize the various processes implemented in the above method embodiments and achieve the same beneficial effects. To avoid repetition, it will not be described again here.
[0048] Please see Figure 6 This is a structural schematic diagram of a vehicle for erecting a vehicle according to a specific embodiment of this application. It mainly consists of a chassis assembly 601, a Beidou positioning device 602, an attitude detector 603, a rotary encoder 604, an erection angle detection device 605, a slewing device 606, and an erection device 607. Specifically, the Beidou positioning device 602 is symmetrically mounted above the driver's cab of the chassis assembly 601 along the central axis of the chassis; the attitude detector 603 is mounted directly in front of the slewing device 606; the rotary encoder 604 is mounted directly behind the slewing device 606; and the erection angle detection device 605 is mounted at the rear hinge point of the erection device 607.
[0049] The system comprises: a single BeiDou positioning device 602 for positioning; two BeiDou positioning devices 602 symmetrically distributed along the chassis centerline, used for two-point positioning to orient the erecting vehicle; an attitude detector 603 for detecting the tilt angles of the erecting vehicle's lateral (Y-axis) and longitudinal (X-axis) axes relative to the horizontal plane; a rotary encoder 604 for detecting the angle rotated by the rotary device 606 relative to the erecting vehicle; and an erection angle detection device 605 for detecting the angle rotated by the erecting device 607 relative to the erecting vehicle in the erection direction.
[0050] Please see Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. A third aspect of this application provides an electronic device 7000, including a processor 7100 and a memory 7200. The memory 7200 stores machine-executable instructions that can be executed by the processor 7100. The processor 7100 can execute the machine-executable instructions to implement the above-mentioned decoupling control-based erection vehicle erection control method.
[0051] A fourth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, cause the processor to implement the above-described decoupled control-based erection vehicle erection control method.
[0052] In some embodiments, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the decoupling control-based erection vehicle erection control method according to the above embodiments.
[0053] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0054] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0055] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.
[0056] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.
[0057] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.
[0058] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.
[0059] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.
[0060] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.
Claims
1. A method for controlling the erection of a vehicle based on decoupling control, characterized in that, The method includes: In response to receiving the erection target instruction, determine whether the erection vehicle is interlocked based on the current signal status of the erection vehicle; When the erecting vehicle is not interlocked, the target parameters are decoupled and calculated based on the attitude of the erecting vehicle to obtain the target erecting angle and the target turning angle. The target parameters include the longitudinal tilt angle, the lateral tilt angle, the orientation angle, the current turning angle of the vehicle body, and the current erecting angle of the vehicle body. Determine whether the target's vertical angle exceeds the vertical limit angle and whether the target's slewing angle exceeds the slewing limit angle. If the target erection angle does not exceed the erection limit angle and the target rotation angle does not exceed the rotation limit angle, PID control is used to perform the erection action.
2. The method according to claim 1, characterized in that, The decoupling calculation based on the attitude of the erecting vehicle includes: Construct the coordinate transformation matrix between the geodetic coordinate system and the vehicle coordinate system; Based on the coordinate transformation matrix, the target parameters in the geodetic coordinate system are converted into execution parameters in the vehicle coordinate system. The execution parameters include the target vertical angle and the target rotation angle.
3. The method according to claim 2, characterized in that, The process of converting the target parameters in the geodetic coordinate system into execution parameters in the vehicle coordinate system based on the coordinate transformation matrix includes: Obtain the target's vertical angle in the geodetic coordinate system; Convert the target's vertical angle in the geodetic coordinate system into a vector form; Based on the coordinate transformation matrix, the vector of the target starting angle is mapped to the vehicle coordinate system to obtain the starting vector in the vehicle coordinate system; The angle between the vertical vector and the vehicle body reference horizontal plane is determined as the target vertical angle.
4. The method according to claim 2, characterized in that, The process of converting the target parameters in the geodetic coordinate system into execution parameters in the vehicle coordinate system based on the coordinate transformation matrix includes: Obtain the target azimuth in the geodetic coordinate system; Subtracting the orientation angle of the erecting vehicle from the target azimuth angle in the geodetic coordinate system yields the theoretical rotation compensation angle. The difference between the theoretical slewing compensation angle and the current vehicle body slewing angle is determined as the target slewing angle.
5. The method according to claim 1, characterized in that, The step of performing PID control for erection when the target erection angle does not exceed the erection limit angle and the target slewing angle does not exceed the slewing limit angle includes: Determine a first difference between the target erection angle and the current vehicle body erection angle; Determine a second difference between the target turning angle and the current vehicle body turning angle; The first difference and the second difference are used as the system excitation for position closed-loop PID control.
6. A hoisting vehicle hoisting control device based on decoupling control, characterized in that, The device includes: The determination module is used to determine whether the erection vehicle is interlocked based on the current signal status of the erection vehicle in response to receiving the erection target instruction; The decoupling module is used to perform decoupling calculations on target parameters based on the posture of the erecting vehicle when the erecting vehicle is not interlocked, to obtain the target erecting angle and the target slewing angle. The target parameters include the longitudinal tilt angle, the lateral tilt angle, the orientation angle, the current vehicle body slewing angle, and the current vehicle body erecting angle of the erecting vehicle. The judgment module is used to determine whether the target erection angle exceeds the erection limit angle and whether the target rotation angle exceeds the rotation limit angle. The control module is used to perform PID control of the erection action when the target erection angle does not exceed the erection limit angle and the target slewing angle does not exceed the slewing limit angle.
7. An electronic device, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the decoupled control-based erection vehicle erection control method according to any one of claims 1 to 5.
8. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to execute the decoupled control-based erection vehicle erection control method according to any one of claims 1 to 5.
9. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device performs the erection control method for an erecting vehicle based on decoupling control as described in any one of claims 1 to 5.