Intelligent switching system and method for dual closed-loop modes of four-way vehicle motor

Abstract

This application relates to the field of automatic control technology and discloses a dual-closed-loop mode intelligent switching system and method for a four-way vehicle motor. The method includes: acquiring the driving target information and driving state parameters of the four-way vehicle, and determining the current target driving mode of the four-way vehicle; the target driving mode includes a speed closed-loop mode and a position closed-loop mode; based on the driving target information and driving state parameters, determining whether the mode switching conditions of the target driving mode are met; if met, generating a motor control signal according to the target driving mode; if the target driving mode is a position closed-loop mode and the mode switching conditions are not met, triggering the identification of the type of driving state error, matching the corresponding driving mode, and then generating a motor control signal based on the matched driving mode. This application enables the four-way vehicle to perform more accurate and smooth mode switching between the speed closed loop and the position closed loop, reducing overshoot and repeated corrections, and improving driving stability.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, specifically to a four-way vehicle motor dual closed-loop mode intelligent switching system and method. Background Technology

[0002] Four-way vehicles are typically used in scenarios such as high-density warehousing, aisle handling, pallet retrieval, lane reversal, and fixed-point parking. Their movement involves multiple operational stages, including straight-line travel, lateral reversal, target approach, and goods retrieval / placement positioning. The requirements for motor control differ at each stage. Long-distance travel prioritizes speed stability and operational efficiency, approaching the location or reversing for alignment prioritizes positional accuracy, and lifting for goods retrieval prioritizes maintaining vehicle position and suppressing minor deviations. In existing control methods, speed and position closed-loop controls are typically switched according to preset task types; for example, speed closed-loop is used during travel, and position closed-loop is used during positioning. However, in actual operation, positional deviations do not necessarily originate from positioning errors themselves, but also from insufficient speed tracking, wheel slippage, load offset, residual displacement during reversal, or lag in drive response. Existing technologies often switch directly to position closed-loop control upon entering the positioning stage, which can easily lead to over-correction of deviations caused by load disturbances or slippage, resulting in sudden changes in control input, vehicle vibration, positioning overshoot, or secondary offset.

[0003] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this application and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0004] The technical problem to be solved by this application is to overcome the defects of the prior art and provide a dual closed-loop mode intelligent switching system and method for a four-way vehicle motor, which enables the four-way vehicle to switch modes more accurately and smoothly between the speed closed loop and the position closed loop, reducing overshoot and repeated corrections, and improving driving stability.

[0005] To solve the above-mentioned technical problems, this application provides the following technical solution:

[0006] On the one hand, this application provides a method for intelligent switching of dual closed-loop modes of a four-way vehicle motor, including the following steps:

[0007] The vehicle acquires its driving target information and driving status parameters, and determines its current target driving mode; the target driving mode includes a speed closed-loop mode and a position closed-loop mode.

[0008] Based on the driving target information and driving status parameters, determine whether the mode switching conditions of the target driving mode are met; if so, generate a motor control signal according to the target driving mode.

[0009] If the target driving mode is a location closed-loop mode and the mode switching conditions are not met, then the identification of the type of driving state error is triggered.

[0010] Based on the type of driving state error, a corresponding driving mode is matched, and a motor control signal is generated based on the matched driving mode.

[0011] As a preferred embodiment of the intelligent switching method for dual closed-loop modes of the four-way vehicle motor described in this application, the driving state parameters include the driving speed and real-time position of the four-way vehicle.

[0012] The driving target information includes the driving stage, as well as the target position and target speed bound to the current driving stage; the driving stage includes at least the stable driving stage, the target approach stage, the reversal alignment stage, and the micro-positioning stage;

[0013] The determination of the current target driving mode of the four-way vehicle specifically includes: if the driving stage is a stable driving stage, then the current target driving mode is a speed closed-loop mode; if the driving stage is any one of the target approach stage, reversing alignment stage, and micro-positioning stage, then the current target driving mode is a position closed-loop mode.

[0014] As a preferred embodiment of the intelligent switching method for dual closed-loop modes of the four-way vehicle motor described in this application, the determination of whether the mode switching conditions of the speed closed-loop mode are met specifically includes:

[0015] Set continuous control cycles; for any control cycle, calculate the distance between the real-time position and the target position of the current driving stage as the remaining control distance; if the remaining control distance is greater than the preset speed takeover distance, the corresponding control cycle satisfies the mode switching condition of the speed closed-loop mode; otherwise, the corresponding control cycle does not satisfy the mode switching condition of the speed closed-loop mode.

[0016] As a preferred embodiment of the intelligent switching method for dual closed-loop modes of the four-way vehicle motor described in this application, the mode switching conditions of the position closed-loop mode include a first switching condition and a second switching condition; determining whether the mode switching conditions of the position closed-loop mode are met specifically includes:

[0017] For any control cycle, the distance between the real-time position and the target position in the current driving stage is calculated as the position deviation; if the position deviation is less than the preset position take-off distance, the corresponding control cycle satisfies the first switching condition.

[0018] For any control cycle, the difference between the target speed and the driving speed in the current driving stage is calculated as the speed deviation; if the speed deviation is less than the preset speed deviation threshold, the corresponding control cycle satisfies the second switching condition.

[0019] As a preferred embodiment of the intelligent switching method for dual closed-loop modes of the four-way vehicle motor described in this application, the mode switching condition of the position closed-loop mode further includes a third switching condition; determining whether the mode switching condition of the position closed-loop mode is met further includes:

[0020] Set a takeover judgment window; the takeover judgment window includes the most recent M control cycles; M is a positive integer;

[0021] The difference between the position deviation of the control cycle with the latest timestamp and the position deviation of the control cycle with the earliest timestamp within the takeover judgment window is recorded as the position correction amount.

[0022] Calculate the position deviation change for each control cycle within the control decision window; for any control cycle, the position deviation change is the difference between its position deviation and the position deviation of the adjacent previous control cycle.

[0023] Each control cycle in which the position deviation change is greater than 0 within the takeover judgment window is marked as an invalid convergence cycle; the ratio of the number of invalid convergence cycles to M is calculated as the position oscillation rate;

[0024] If the position oscillation rate is less than the preset oscillation rate threshold, and the position deviation change in each invalid convergence cycle is less than the preset deviation recovery threshold, while the position correction amount is greater than the preset correction amount threshold, then the takeover judgment window satisfies the third switching condition.

[0025] If each control cycle of the takeover judgment window simultaneously satisfies the first switching condition and the second switching condition, and the takeover judgment window satisfies the third switching condition, then the mode switching condition of the position closed-loop mode is satisfied.

[0026] As a preferred embodiment of the intelligent switching method for dual closed-loop modes of a four-way vehicle motor described in this application, the step of generating a motor control signal based on the target driving mode specifically includes:

[0027] If the target driving mode is a speed closed-loop mode, then the first output adjustment of the motor is calculated based on the speed deviation.

[0028] If the target driving mode is a position closed-loop mode, then the second output adjustment of the motor is calculated based on the position deviation.

[0029] The motor control signal is generated based on the first output adjustment amount or the second output adjustment amount.

[0030] As a preferred embodiment of the intelligent switching method for dual closed-loop modes of the four-way vehicle motor described in this application, the driving state error includes insufficient speed following and deviation from the near target position;

[0031] The trigger for identifying the type of driving state error includes: if each control cycle of the takeover judgment window satisfies the first switching condition, and at least N control cycles of the takeover judgment window do not satisfy the second switching condition, then the type of driving state error is insufficient speed following.

[0032] When each control cycle of the takeover judgment window simultaneously satisfies both the first switching condition and the second switching condition, if the position oscillation rate is less than a preset oscillation rate threshold, and the position deviation change in each invalid convergence cycle is less than a preset deviation recovery threshold, then the ratio of the position deviation of the control cycle with the latest timestamp within the takeover judgment window to the position takeover distance is calculated as the position residual percentage; if the position residual percentage is less than a preset residual percentage threshold, then the type of driving state error is near-target position deviation.

[0033] As a preferred embodiment of the intelligent switching method for dual closed-loop modes of the four-way vehicle motor described in this application, the driving state error further includes abnormal drive response; the triggering of the identification of the type of driving state error further includes: when each control cycle of the takeover judgment window simultaneously satisfies the first switching condition and the second switching condition, if the position oscillation rate is greater than or equal to the oscillation rate threshold, or if there is at least one invalid convergence cycle where the position deviation change is greater than or equal to the deviation recovery threshold, then the type of driving state error is abnormal drive response.

[0034] As a preferred embodiment of the intelligent switching method for dual closed-loop modes of the four-way vehicle motor described in this application, the method involves matching a corresponding driving mode based on the type of driving state error, specifically including:

[0035] If the type of driving status error is insufficient speed following, the matching driving mode is speed closed-loop mode; if the type of driving status error is near-target position deviation, the matching driving mode is position closed-loop mode.

[0036] If the type of driving state error is abnormal drive response, the matched driving mode is speed closed-loop mode, and the target speed is limited when the speed closed-loop mode is executed.

[0037] Secondly, this application provides a four-way vehicle motor dual-closed-loop mode intelligent switching system, including a data acquisition module, a data processing module, a driving control module, an error identification module, and a mode matching module; wherein:

[0038] The data acquisition module is used to acquire the driving target information and driving status parameters of the four-way vehicle;

[0039] The data processing module determines whether the mode switching conditions of the target driving mode are met based on the driving target information and driving status parameters; if they are met, the driving control module generates a motor control signal according to the target driving mode.

[0040] The error identification module is used to trigger the identification of the type of driving state error;

[0041] The mode matching module matches the corresponding driving mode based on the type of driving state error, and the driving control module generates a motor control signal according to the matched driving mode.

[0042] Compared with the prior art, the beneficial effects achieved by this application are as follows:

[0043] This solution avoids the four-way vehicle mechanically switching between speed and position closed loops solely based on task type, making the closed-loop mode more aligned with actual control requirements. For position deviations caused by insufficient speed tracking, load disturbances, changes in drive resistance, or slippage, it avoids directly using the position closed loop for forced correction, reducing issues such as sudden changes in control inputs, vehicle vibration, positioning overshoot, and repeated corrections. This allows for conditional integration of the speed and position closed loops, improving the control adaptability and operational reliability of the four-way vehicle during travel, reversing, loaded movement, and cargo loading / unloading positioning. Attached Figure Description

[0044] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0045] Figure 1 A flowchart of the intelligent switching method for dual closed-loop modes of the four-way vehicle motor provided in this application;

[0046] Figure 2 A schematic diagram of the structure of the intelligent switching system for the dual closed-loop mode of the four-way vehicle motor provided in this application. Detailed Implementation

[0047] The technical solution of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of this application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other.

[0048] Example 1

[0049] This embodiment describes a method for intelligent switching of dual closed-loop modes for a four-way vehicle motor, referring to... Figure 1 The method includes the following steps:

[0050] The vehicle acquires its driving target information and driving status parameters, and determines its current target driving mode; the target driving mode includes a speed closed-loop mode and a position closed-loop mode.

[0051] The driving status parameters include the driving speed and real-time position of the four-way vehicle;

[0052] The driving target information includes the driving stage, as well as the target position and target speed bound to the current driving stage; the driving stage includes at least the stable driving stage, the target approach stage, the reversal alignment stage, and the micro-positioning stage;

[0053] The determination of the current target driving mode of the four-way vehicle specifically includes: if the driving stage is a stable driving stage, then the current target driving mode is a speed closed-loop mode; if the driving stage is any one of the target approach stage, reversing alignment stage, and micro-positioning stage, then the current target driving mode is a position closed-loop mode.

[0054] The driving phase can be directly identified based on the control signals received by the four-way vehicle. These control signals can be issued by the warehouse scheduling system, the host computer control system, the WCS system, or a manual operation terminal, and are used to control the four-way vehicle to gradually complete its driving task in stages. The stable driving phase involves the four-way vehicle continuously driving within the aisle or passageway while maintaining a stable operating speed. The target approach phase involves the four-way vehicle gradually decelerating and approaching the target cargo location, reversing point, or parking point. The reversing and alignment phase involves the four-way vehicle switching between longitudinal and lateral driving to align with the reversing reference position. The micro-positioning phase involves the four-way vehicle making minor positional corrections near the target cargo location, pick-up / placement location, or parking position to meet the final parking or pick-up / placement alignment requirements.

[0055] In some implementations, each travel phase has a pre-set and bound target position and target speed, both of which can be directly obtained based on control signal parsing. The target position is used to define the endpoint, alignment point, or holding point of the travel phase, such as the coordinates of the target cargo location, reversing reference point, parking point, or cargo pick-up / placement alignment point, and its magnitude is typically on the order of millimeters to meters; the target speed is used to define the travel speed or approach speed of the travel phase. The speed closed-loop mode specifically includes adjusting the motor output according to the deviation between the target speed and the actual speed of each travel phase, so that the four-way vehicle runs at the target speed; the position closed-loop mode specifically includes adjusting the motor output according to the deviation between the target position and the current position, so that the position of the four-way vehicle converges to the target position, facilitating and stabilizing parking or switching travel phases.

[0056] Based on the driving target information and driving status parameters, determine whether the mode switching conditions of the target driving mode are met; if so, generate a motor control signal according to the target driving mode.

[0057] The conditions for determining whether the speed closed-loop mode is met include:

[0058] Set continuous control cycles; for any control cycle, calculate the distance between the real-time position and the target position of the current driving stage as the remaining control distance; if the remaining control distance is greater than the preset speed takeover distance, the corresponding control cycle satisfies the mode switching condition of the speed closed-loop mode; otherwise, the corresponding control cycle does not satisfy the mode switching condition of the speed closed-loop mode.

[0059] The control cycle can adopt the existing refresh cycle of the four-way vehicle main control system, such as 10 milliseconds to 50 milliseconds. The speed takeover distance can be set by those skilled in the art based on actual control requirements. For example, the speed takeover distance can be set to 1.5 times the braking distance of the four-way vehicle at the target speed, so that the speed closed-loop mode is triggered only when there is sufficient remaining control distance in the current driving phase. This avoids the four-way vehicle from still executing the speed closed-loop mode when it is already close to the target position, which would cause the speed closed-loop mode to need to decelerate or exit immediately after being triggered, thereby affecting the target alignment stability of the subsequent position closed-loop mode.

[0060] In addition to the speed closed-loop mode and the position closed-loop mode, the four-way vehicle can also employ some conventional auxiliary speed control methods. Between the speed closed-loop mode and the position closed-loop mode, a transitional speed control method can be used. This method uses the motor output from the previous control cycle and gradually transitions to the motor control output for the new driving stage according to a preset rate of change. For example, the motor output might change by 20% in each control cycle to avoid significant impact during the transition.

[0061] The mode switching conditions for the location closed-loop mode include a first switching condition and a second switching condition; determining whether the mode switching conditions for the location closed-loop mode are met specifically includes:

[0062] For any control cycle, the distance between the real-time position and the target position in the current driving stage is calculated as the position deviation; if the position deviation is less than the preset position take-off distance, the corresponding control cycle satisfies the first switching condition.

[0063] For any control cycle, the difference between the target speed and the driving speed in the current driving stage is calculated as the speed deviation; if the speed deviation is less than the preset speed deviation threshold, the corresponding control cycle satisfies the second switching condition.

[0064] The position takeover distance and speed deviation threshold can be set by those skilled in the art based on actual needs. The position takeover distance is used to limit the distance the four-way vehicle has entered a suitable near-target area for precise positioning, and the speed deviation threshold is used to limit the distance the four-way vehicle's current speed has decreased to a low speed state where the position loop control algorithm can smoothly take over. As an optional implementation, the distance can be set according to the control accuracy requirements of different driving stages. Some examples of settings are as follows: the position takeover distance is set to 200 mm during the target approach stage, 80 mm during the reversing alignment stage, and 20 mm during the micro-positioning stage; the speed deviation threshold during the reversing alignment stage is set to 0.15 m / s, and the speed deviation threshold during the micro-positioning stage can be further limited to 0.08 m / s.

[0065] The mode switching condition for the location closed-loop mode also includes a third switching condition; determining whether the mode switching condition for the location closed-loop mode is met further includes:

[0066] Set a takeover judgment window; the takeover judgment window includes the most recent M control cycles; M is a positive integer;

[0067] The difference between the position deviation of the control cycle with the latest timestamp and the position deviation of the control cycle with the earliest timestamp within the takeover judgment window is recorded as the position correction amount.

[0068] Calculate the position deviation change for each control cycle within the control decision window; for any control cycle, the position deviation change is the difference between its position deviation and the position deviation of the adjacent previous control cycle.

[0069] Each control cycle in which the position deviation change is greater than 0 within the takeover judgment window is marked as an invalid convergence cycle; the ratio of the number of invalid convergence cycles to M is calculated as the position oscillation rate;

[0070] If the position oscillation rate is less than the preset oscillation rate threshold, and the position deviation change in each invalid convergence cycle is less than the preset deviation recovery threshold, while the position correction amount is greater than the preset correction amount threshold, then the takeover judgment window satisfies the third switching condition.

[0071] If each control cycle of the takeover judgment window simultaneously satisfies the first switching condition and the second switching condition, and the takeover judgment window satisfies the third switching condition, then the mode switching condition of the position closed-loop mode is satisfied.

[0072] Those skilled in the art can set specific values ​​for the oscillation rate threshold, deviation recovery threshold, and correction threshold based on actual needs. As an optional example, the oscillation rate threshold is set to 0.2 to exclude situations where the four-way vehicle positioning repeatedly oscillates; the deviation recovery threshold is set to 10% of the position takeover distance to exclude situations where the four-way vehicle positioning exhibits significant errors; the correction threshold can be set to 15% of the position deviation in the earliest control cycle within the takeover judgment window to filter situations where the four-way vehicle positioning gradually converges towards the target position. The third switching condition allows for small fluctuations when the four-way vehicle approaches at low speed, but requires that the position deviation has a clear downward trend within the takeover judgment window and limits the magnitude of a single recovery, thereby preventing premature entry into the position closed-loop mode when there is error oscillation, repeated rebound, or unstable positioning direction.

[0073] Optionally, M can be any integer from 5 to 10, so that the takeover judgment window can avoid misjudgment caused by sampling jitter in a single control cycle, while also taking into account the timeliness of judging the mode switching conditions. When the mode switching conditions of the position closed-loop mode are met, it means that the four-way vehicle has approached the target position, the speed is low enough, and the position error has a basis for convergence. At this time, switching to the position closed-loop mode is allowed.

[0074] The generation of motor control signals based on the target driving mode specifically includes:

[0075] If the target driving mode is a speed closed-loop mode, then the first output adjustment of the motor is calculated based on the speed deviation.

[0076] If the target driving mode is a position closed-loop mode, then the second output adjustment of the motor is calculated based on the position deviation.

[0077] The motor control signal is generated based on the first output adjustment amount or the second output adjustment amount.

[0078] As an optional implementation, a speed loop control algorithm, such as a PI or PID control algorithm, is used to calculate the speed deviation as a first output adjustment value. This allows the motor output to be adjusted using the first output adjustment value, gradually bringing the speed deviation towards zero. Alternatively, a position loop control algorithm, such as a PD control algorithm, is used to calculate the position deviation as a second output adjustment value. This allows the motor output to be adjusted using the second output adjustment value, gradually bringing the position deviation towards zero. The motor output can be any of the following: motor current, torque, or PWM duty cycle. The first or second output adjustment value is the adjustment value for the corresponding value.

[0079] The motor control signal includes a first output adjustment amount or a second output adjustment amount, which is used to control the motor drive mechanism, such as a servo driver, FOC control circuit, MCU drive control unit, or FPGA logic control unit; the drive mechanism adjusts the motor output based on the first output adjustment amount or the second output adjustment amount to achieve speed closed loop or position closed loop.

[0080] If the target driving mode is a location closed-loop mode and the mode switching conditions are not met, then the identification of the type of driving state error is triggered.

[0081] The driving state errors include insufficient speed following, deviation from the target position, and abnormal drive response.

[0082] The trigger for identifying the type of driving state error includes: if each control cycle of the takeover judgment window meets the first switching condition, and at least N control cycles of the takeover judgment window do not meet the second switching condition, then the type of driving state error is insufficient speed following.

[0083] Those skilled in the art can set the value of N based on actual needs. For example, when M is 10, N can be 5, indicating that at least half of the control cycles show a significant difference between the actual speed and the target speed. At this time, the actual driving speed has not yet stably followed the target speed of the current driving stage. If the position closed-loop mode is switched directly, overshoot, jerking, or repeated corrections are likely to occur. In this case, the speed closed-loop mode can be executed first to allow the speed deviation to converge to the allowable range.

[0084] The triggering of the identification of the type of driving state error further includes: when each control cycle of the takeover judgment window simultaneously satisfies the first switching condition and the second switching condition, if the position oscillation rate is less than a preset oscillation rate threshold, and the position deviation change in each invalid convergence cycle is less than a preset deviation recovery threshold, then the ratio of the position deviation of the control cycle with the latest timestamp in the takeover judgment window to the position takeover distance is calculated as the position residual ratio; if the position residual ratio is less than a preset residual ratio threshold, then the type of driving state error is near target position deviation.

[0085] Those skilled in the art can set the value of the position residual ratio based on actual needs, for example, 0.2; when the position residual ratio is less than 20% of the position control distance, it means that the remaining position deviation has entered a small fine-tuning state, resulting in a small position correction amount. At this time, it is suitable to perform regular position correction in the position closed-loop mode.

[0086] The trigger for identifying the type of driving state error further includes: when each control cycle of the takeover judgment window simultaneously satisfies the first switching condition and the second switching condition, if the position oscillation rate is greater than or equal to the oscillation rate threshold, or if there is a position deviation change greater than or equal to the deviation recovery threshold in at least one invalid convergence cycle, then the type of driving state error is abnormal drive response.

[0087] When the first and second switching conditions are met, but the position deviation increases frequently or significantly within the takeover judgment window, resulting in a position oscillation rate greater than or equal to the oscillation rate threshold, or a position deviation change greater than or equal to the deviation rise threshold, it indicates that the position error cannot achieve stable convergence. At this time, the driving response of the four-way vehicle becomes unstable or affected by external disturbances when it is in a low-speed state near the target. For example, the load center of gravity shifts, causing uneven force on the vehicle body; changes in the contact state of the cargo or pallet cause instantaneous resistance changes; changes in the friction conditions between the wheels and the track or ground cause slight slippage.

[0088] Based on the type of driving state error, a corresponding driving mode is matched, and a motor control signal is generated based on the matched driving mode.

[0089] Based on the type of driving state error, a corresponding driving mode is matched, specifically including:

[0090] If the type of driving status error is insufficient speed following, the matching driving mode is speed closed-loop mode; if the type of driving status error is near-target position deviation, the matching driving mode is position closed-loop mode.

[0091] If the driving state error is classified as a drive response anomaly, the matched driving mode is a speed closed-loop mode, and the target speed is limited when executing the speed closed-loop mode. For example, when executing the speed closed-loop mode, the speed deviation calculated based on the target speed and the driving speed is reduced by 50% before being calculated as the first output adjustment amount, to prevent excessive speed correction from amplifying slippage, impact, or cargo shaking. In addition, if the target speed for this driving phase is set in a decreasing form, such as gradually decelerating to slowly approach the target position, the deceleration rate of the target speed can also be reduced to suppress the four-way vehicle from continuously deviating from the target position.

[0092] Example 2

[0093] This embodiment is the second embodiment of this application; it is based on the same inventive concept as Embodiment 1, and refers to... Figure 2 This embodiment introduces a four-way vehicle motor dual-closed-loop mode intelligent switching system, including a data acquisition module, a data processing module, a driving control module, an error identification module, and a mode matching module; wherein:

[0094] The data acquisition module is used to acquire the driving target information and driving status parameters of the four-way vehicle; the driving status parameters include the driving speed and real-time position of the four-way vehicle; the driving target information includes the driving stage, as well as the target position and target speed bound to the current driving stage, and the driving stage includes at least the stable driving stage, the target approach stage, the reversing alignment stage and the micro-positioning stage.

[0095] The data processing module determines whether the mode switching conditions of the target driving mode are met based on the driving target information and driving status parameters. If the target driving mode is a speed closed-loop mode, it determines whether the mode switching conditions of the speed closed-loop mode are met based on the remaining control distance between the real-time position and the target position. If the target driving mode is a position closed-loop mode, it determines whether the mode switching conditions of the position closed-loop mode are met based on the position deviation, speed deviation, and position convergence status within the takeover judgment window.

[0096] If the mode switching conditions of the target driving mode are met, the driving control module generates a motor control signal according to the target driving mode; if the target driving mode is a speed closed-loop mode, the first output adjustment of the motor is calculated based on the speed deviation between the target speed and the driving speed; if the target driving mode is a position closed-loop mode, the second output adjustment of the motor is calculated based on the position deviation between the target position and the real-time position, and a motor control signal is generated based on the first output adjustment or the second output adjustment.

[0097] The error identification module is used to trigger the identification of the type of driving state error; the driving state error includes insufficient speed following, near target position deviation and abnormal drive response; among them, insufficient speed following means that the actual driving speed has not yet stably followed the target speed of the current driving stage, near target position deviation means that the remaining position deviation has entered a small-scale fine-tuning state, and abnormal drive response means that the position deviation has frequently rebounded or rebounded significantly within the takeover judgment window.

[0098] The mode matching module matches the corresponding driving mode based on the type of driving state error, and the driving control module generates a motor control signal according to the matched driving mode. If the type of driving state error is insufficient speed following, the matched driving mode is a speed closed-loop mode; if the type of driving state error is deviation from the target position, the matched driving mode is a position closed-loop mode; if the type of driving state error is abnormal drive response, the matched driving mode is a speed closed-loop mode, and the target speed is limited when the speed closed-loop mode is executed.

[0099] The specific functions of each module described above are implemented with reference to the relevant content in the intelligent switching method for dual closed-loop modes of the four-way vehicle motor described in Example 1, and will not be repeated here.

[0100] 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.

[0101] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of protection of this application, and these forms are all within the protection scope of this application.

Claims

1. A method for intelligent switching of dual closed-loop modes of a four-way vehicle motor, characterized in that, Includes the following steps: Acquire the driving target information and driving status parameters of the four-way vehicle, and determine the current target driving mode of the four-way vehicle; The target driving mode includes a speed closed-loop mode and a position closed-loop mode; Based on the driving target information and driving status parameters, determine whether the mode switching conditions of the target driving mode are met; If the conditions are met, a motor control signal is generated based on the target driving mode; If the target driving mode is a location closed-loop mode and the mode switching conditions are not met, then the identification of the type of driving state error is triggered. Based on the type of driving state error, a corresponding driving mode is matched, and a motor control signal is generated based on the matched driving mode.

2. The intelligent switching method for dual closed-loop modes of a four-way vehicle motor as described in claim 1, characterized in that, The driving status parameters include the driving speed and real-time position of the four-way vehicle; The driving target information includes the driving stage, as well as the target position and target speed bound to the current driving stage; The driving phase includes at least a stable driving phase, a target approach phase, a reversal and alignment phase, and a micro-positioning phase. The determination of the current target driving mode of the four-way vehicle specifically includes: if the driving stage is a stable driving stage, then the current target driving mode is the speed closed-loop mode; If the driving phase is any one of the target approach phase, reversing alignment phase, and micro-positioning phase, then the current target driving mode is the position closed-loop mode.

3. The intelligent switching method for dual closed-loop modes of a four-way vehicle motor as described in claim 2, characterized in that, The conditions for determining whether the speed closed-loop mode is met include: Set continuous control cycles; for any control cycle, calculate the distance between the real-time position and the target position of the current driving stage as the remaining control distance; if the remaining control distance is greater than the preset speed takeover distance, the corresponding control cycle satisfies the mode switching condition of the speed closed-loop mode; otherwise, the corresponding control cycle does not satisfy the mode switching condition of the speed closed-loop mode.

4. The intelligent switching method for dual closed-loop modes of a four-way vehicle motor as described in claim 3, characterized in that, The mode switching conditions for the location closed-loop mode include a first switching condition and a second switching condition; The determination of whether the mode switching conditions for the location closed-loop mode are met includes: For any control cycle, the distance between the real-time position and the target position in the current driving stage is calculated as the position deviation; if the position deviation is less than the preset position take-off distance, the corresponding control cycle satisfies the first switching condition. For any control cycle, the difference between the target speed and the driving speed in the current driving stage is calculated as the speed deviation; if the speed deviation is less than the preset speed deviation threshold, the corresponding control cycle satisfies the second switching condition.

5. The intelligent switching method for dual closed-loop modes of a four-way vehicle motor as described in claim 4, characterized in that, The mode switching condition for the location closed-loop mode also includes a third switching condition; determining whether the mode switching condition for the location closed-loop mode is met further includes: Set a takeover judgment window; the takeover judgment window includes the most recent M control cycles; M is a positive integer; The difference between the position deviation of the control cycle with the latest timestamp and the position deviation of the control cycle with the earliest timestamp within the takeover judgment window is recorded as the position correction amount. Calculate the position deviation change for each control cycle within the control decision window; for any control cycle, the position deviation change is the difference between its position deviation and the position deviation of the adjacent previous control cycle. Each control cycle in which the position deviation change is greater than 0 within the takeover judgment window is marked as an invalid convergence cycle; the ratio of the number of invalid convergence cycles to M is calculated as the position oscillation rate; If the position oscillation rate is less than the preset oscillation rate threshold, and the position deviation change in each invalid convergence cycle is less than the preset deviation recovery threshold, while the position correction amount is greater than the preset correction amount threshold, then the takeover judgment window satisfies the third switching condition. If each control cycle of the takeover judgment window simultaneously satisfies the first switching condition and the second switching condition, and the takeover judgment window satisfies the third switching condition, then the mode switching condition of the position closed-loop mode is satisfied.

6. The intelligent switching method for dual closed-loop modes of a four-way vehicle motor as described in claim 5, characterized in that, The generation of motor control signals based on the target driving mode specifically includes: If the target driving mode is a speed closed-loop mode, then the first output adjustment of the motor is calculated based on the speed deviation. If the target driving mode is a position closed-loop mode, then the second output adjustment of the motor is calculated based on the position deviation. The motor control signal is generated based on the first output adjustment amount or the second output adjustment amount.

7. The intelligent switching method for dual closed-loop modes of a four-way vehicle motor as described in claim 6, characterized in that, The driving state error includes insufficient speed following and deviation from the target position; The trigger for identifying the type of driving state error includes: if each control cycle of the takeover judgment window satisfies the first switching condition, and at least N control cycles of the takeover judgment window do not satisfy the second switching condition, then the type of driving state error is insufficient speed following. When each control cycle of the takeover judgment window simultaneously satisfies both the first switching condition and the second switching condition, if the position oscillation rate is less than a preset oscillation rate threshold, and the position deviation change in each invalid convergence cycle is less than a preset deviation recovery threshold, then the ratio of the position deviation of the control cycle with the latest timestamp within the takeover judgment window to the position takeover distance is calculated as the position residual percentage; if the position residual percentage is less than a preset residual percentage threshold, then the type of driving state error is near-target position deviation.

8. The intelligent switching method for dual closed-loop modes of a four-way vehicle motor as described in claim 7, characterized in that, The driving state error also includes abnormal drive response; The trigger for identifying the type of driving state error further includes: when each control cycle of the takeover judgment window simultaneously satisfies the first switching condition and the second switching condition, if the position oscillation rate is greater than or equal to the oscillation rate threshold, or if there is a position deviation change greater than or equal to the deviation recovery threshold in at least one invalid convergence cycle, then the type of driving state error is abnormal drive response.

9. The intelligent switching method for dual closed-loop modes of a four-way vehicle motor as described in claim 8, characterized in that, Based on the type of driving state error, a corresponding driving mode is matched, specifically including: If the type of driving status error is insufficient speed following, the matching driving mode is speed closed-loop mode; if the type of driving status error is near-target position deviation, the matching driving mode is position closed-loop mode. If the type of driving state error is abnormal drive response, the matched driving mode is speed closed-loop mode, and the target speed is limited when the speed closed-loop mode is executed.

10. A four-way vehicle motor dual-closed-loop mode intelligent switching system, used to implement the four-way vehicle motor dual-closed-loop mode intelligent switching method according to any one of claims 1-9, characterized in that, It includes a data acquisition module, a data processing module, a driving control module, an error identification module, and a pattern matching module; among which: The data acquisition module is used to acquire the driving target information and driving status parameters of the four-way vehicle; The data processing module determines whether the mode switching conditions of the target driving mode are met based on the driving target information and driving status parameters; if they are met, the driving control module generates a motor control signal according to the target driving mode. The error identification module is used to trigger the identification of the type of driving state error; The mode matching module matches the corresponding driving mode based on the type of driving state error, and the driving control module generates a motor control signal according to the matched driving mode.

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