Air transport vehicle turning control method, system and on-board controller

By establishing a kinematic model during the turning process of the aerial transport vehicle, and calculating and smoothing the speeds of the front and rear wheels, the problem of unreasonable drive force distribution during the turning process of the aerial transport vehicle was solved, thereby reducing torque oscillation and improving the smoothness of the control process.

CN122349341APending Publication Date: 2026-07-07SUZHOU XINSHINUO SEMICON EQUIP CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SUZHOU XINSHINUO SEMICON EQUIP CO LTD
Filing Date
2026-05-29
Publication Date
2026-07-07

AI Technical Summary

Technical Problem

When existing aerial transport vehicles are running on turning tracks, changes in the speed relationship between the front and rear wheels lead to an unreasonable distribution of driving force, causing a large peak torque oscillation, which affects the smoothness of operation on turning tracks.

Method used

By determining the different stages of the aerial transport vehicle's turning process, a kinematic model is established to calculate the theoretical speeds of the front and rear wheels. Combined with slope constraints and first-order time-delay filtering, the speeds of the front and rear wheels that match the speed of the target vehicle's center point are generated.

Benefits of technology

It effectively improves the torque output characteristics during turning, reduces torque oscillation peaks, and enhances the smoothness of the control process and its engineering application value.

✦ Generated by Eureka AI based on patent content.

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    Figure CN122349341A_ABST
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Abstract

The application discloses an air transport vehicle turning control method, system and vehicle-mounted controller, wherein the air transport vehicle turning control method comprises the following steps: determining which turning stage the air transport vehicle is currently in; calculating the theoretical speed of the front wheels and the rear wheels of the air transport vehicle according to the kinematic model corresponding to the turning stage and the target vehicle body center point speed; and controlling the front wheel speed and the rear wheel speed of the air transport vehicle according to the determined theoretical speed of the front wheels and the rear wheels. The application changes the conventional means of controlling the wheels by using a fixed speed in the prior art when the air transport vehicle turns, and the method of the application generates the theoretical speed of the front wheels and the rear wheels matched with the target vehicle body center point speed based on the geometric constraint relationship of different stages of the turning track, so that the torque output characteristic of the turning process can be effectively improved, the peak-to-peak value of torque shock can be reduced, and the smoothness and the engineering application value of the control process can be improved.
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Citation Information

Patent Citations

  • OHT trolley walking structure stable in turning

    CN120348324A