The invention relates to a method for autonomously controlling an actuator of an automatic machine (10), the actuator being adapted to influence the path and speed of the automatic machine, the method comprising the following steps: acquiring a reference path to which the automatic machine should follow, -determining a nominal value of at least one parameter allowing the automatic machine to follow the reference path,-determining a current value of each of said parameters when the automatic machine follows the reference path,-determining a value difference between the current value and the nominal value of each of said parameters, and then-determining a reference path of the automatic machine according to each value difference, a control setpoint for each actuator is calculated using a computer by means of a corrector. According to the invention, the corrector allows the joint calculation of the dedicated transverse and longitudinal automatic machine control setpoints.
本发明涉及一种用于自主控制自动机器(10)的执行器的方法,所述执行器适于影响所述自动机器的路径和速度,所述方法包括以下步骤:‑获取所述自动机器应当遵循的参考路径,‑确定允许所述自动机器遵循所述参考路径的至少一个参数的标称值,‑确定所述自动机器遵循参考路径时每个所述参数的当前值,‑确定所述参数中的每一个的当前值和标称值之间的值差,然后‑根据每个值差,利用计算机借助于校正器计算每个执行器的控制设定点。根据本发明,校正器允许联合计算专用横向自动机器控制设定点和专用纵向自动机器控制设定点。
Method for autonomously controlling automatic machine
用于自主控制自动机器的方法
31.12.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |