The embodiment of the invention provides a method and device for restraining shaking of a mobile chassis and the mobile chassis. The method comprises the steps that actual thrust collected by a force sensor is obtained; and then a target speed corresponding to the actual thrust in a preset speed thrust curve is searched, and the mobile chassis is controlled to move at the target speed. The speed thrust curve is a curve determined after interpolation processing is carried out on a plurality of sample thrust collected within the preset thrust range based on the test thrust, and the speed thrust curve reflects the relation between the sample thrust and the corresponding sample speed. According to the speed and thrust curve, the speed can be controlled when the fluctuation of the actual thrust on the handrail is large in the actual use of the mobile chassis, so that the speed change is small, the variation of the acceleration is reduced, and the shaking of the mobile chassis is inhibited.
本申请实施例提供了一种抑制移动底盘抖动的方法、装置及移动底盘,通过获取力传感器采集的实际推力。然后查找预置的速度推力曲线中实际推力对应的目标速度,并控制移动底盘以目标速度移动。由于速度推力曲线为基于试验推力在预设推力范围内采集的多个样本推力进行插值处理后确定的曲线,并且,速度推力曲线反映了样本推力与对应的样本速度之间的关系。根据该速度推力曲线可以在移动底盘实际使用中扶手上的实际推力波动较大时,控制速度,以使速度变化很小,减小加速度的变化量,抑制移动底盘的抖动。
Method and device for restraining shaking of mobile chassis and mobile chassis
一种抑制移动底盘抖动的方法、装置及移动底盘
2022-11-11
Patent
Electronic Resource
Chinese
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 |