The invention provides an Ackerman chassis correction method and system based on a gyroscope and a storage medium, and the method comprises the steps: firstly, controlling the steering angle of a motor to enable a chassis to do circular motion, obtaining the angular velocity of the chassis based on the gyroscope according to the linear velocity of the chassis, and obtaining the turning radius through a relational expression of a turning model of an Ackerman chassis structure; then, the motor steering angles are adjusted, and turning radiuses corresponding to the multiple motor steering angles are obtained; and finally, performing curve fitting on the motor steering angle and the corresponding turning radius, and calculating to obtain a relational expression between the motor steering angle and the chassis turning radius. According to the Ackerman chassis correction method provided by the invention, the obtained relation between the steering angle of the motor and the turning radius of the chassis reflects the condition of the chassis in actual operation, the deviation caused by factors such as the structure is reduced, and the control precision of the chassis in the operation process is improved.

    本发明提供了一种基于陀螺仪的阿克曼底盘矫正方法、系统和存储介质,首先,控制电机转向角度使底盘做圆周运动,根据底盘的线速度和基于陀螺仪获取底盘角速度,使用阿克曼底盘结构的转弯模型的关系式求得转弯半径;然后,调整电机转向角度,得到多个电机转向角度所对应的转弯半径;最后,对电机转向角度和所对应的转弯半径进行曲线拟合,计算得到电机转向角度和底盘转弯半径的关系式。本发明提供的阿克曼底盘矫正方法,获取的电机转向角度和底盘转弯半径的关系是反应底盘在实际运行中的情况,减少了因结构等因素带来的偏差,提高底盘在运行过程中的控制精度。


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    Title :

    Ackerman chassis correction method and system based on gyroscope and storage medium


    Additional title:

    一种基于陀螺仪的阿克曼底盘矫正方法、系统和存储介质


    Contributors:
    BAI LIN (author) / LAI SONGRUI (author) / LIU BIAO (author) / SHU HAIYAN (author) / YUAN TIANXIA (author) / ZHU TAOJIAN (author) / SHEN CHUANGYUN (author) / WANG HENGHUA (author) / FANG YINGFENG (author)

    Publication date :

    2023-11-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B25J Manipulatoren , MANIPULATORS



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