The invention provides a four-wheel omni-directional chassis control method and system. The method comprises the steps that S1, chassis parameters are set; s2, receiving the speed of the control chassis; s3, the poses of the four steering engines and the speeds of the four straight motors are calculated according to the speeds; and S4, reading the current position of the steering engine and the current speed of the straight motor, calculating a cost configuration with the minimum cost, and outputting the position and posture of the steering engine and the speed of the motor. The invention provides a motion resolving mode of a universal four-wheel four-steering-engine omni-directional chassis. The invention provides a self-adaptive steering engine angle and motor speed control method, the motor control smoothness is improved from multiple configurations, and the problem of steering engine shaking caused by sudden speed change is prevented.
本发明提供了一种四轮全向底盘控制方法及系统,包括:步骤S1:设置底盘参数;步骤S2:接受控制底盘的速度;步骤S3:根据速度计算出四个舵机的位姿和四个直行电机的速度;步骤S4:读取舵机当前位置和直行电机当前速度计算代价最小的代价构型,输出舵机位姿和电机速度。本发明提出了通用四轮四舵机全向底盘的运动解算方式;本发明提出了自适应的舵机角度和电机速度控制方法,从多构型上提升了电机控制平滑度,防止速度突变导致舵机抖动问题。
Four-wheel omnidirectional chassis control method and system
四轮全向底盘控制方法及系统
09.08.2022
Patent
Elektronische Ressource
Chinesisch
IPC: | B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge |
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