The invention provides an agricultural electric mobile platform control system and method, and relates to the field of agricultural vehicle chassis control. The control system comprises a terminal control module, a driving module, a feedback module and a steering module, the terminal control module sends a current control instruction according to the set track information; the driving module drives the steering module to adjust the speed and deflect at an expected angle value according to the current control instruction so as to enable the steering module to move in different forms; the morphological movement comprises linear movement, oblique movement, transverse movement, in-situ rotation and steering; the feedback module obtains an actual angle deflection value of the steering module and feeds back the actual angle deflection value to the driving module; the driving module obtains an angle difference value according to the actual angle deflection value and the expected angle value and drives the steering module to perform angle adjustment according to the angle difference value by adopting a PID control method; according to the invention, the mobile platform can be efficiently controlled to move in different forms.
本发明提供一种农用电动移动平台控制系统及方法,涉及农用车辆底盘控制领域。该控制系统包括:终端控制模块、驱动模块、反馈模块和转向模块;终端控制模块根据设定轨迹信息发送当前控制指令;驱动模块根据当前控制指令驱动转向模块进行速度的调整和期望角度值的偏转,以使得转向模块进行不同的形态运动;形态运动包括:直线移动、斜向移动、横向移动、原地旋转以及转向;反馈模块获取转向模块的实际角度偏转值以及将实际角度偏转值反馈至驱动模块;驱动模块根据实际角度偏转值和期望角度值得到角度差值并采用PID控制方法,根据角度差值驱动转向模块进行角度调整;本发明能够高效控制移动平台进行不同的形态运动。
Agricultural electric mobile platform control system and method
一种农用电动移动平台控制系统及方法
21.07.2023
Patent
Elektronische Ressource
Chinesisch
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