A mining dump truck steer-by-wire control system based on a state machine comprises the following steps that (1) a steering controller SCU receives data of a sensor and a vehicle control unit VCU through a sensor data processing layer and a CAN message analysis layer; (2) the steering controller SCU integrates the input data in the first step and submits the input data to a fault processing layer for screening; (3) the input data and the fault data are integrated and submitted to a state machine module for working mode switching; (4) the steering controller SCU executes the control strategy of the current steering mode, and calculation and output are carried out; (5) the output control layer sends output data to an execution mechanism to drive a steering wheel; and (6) the steering controller SCU feeds back the state information of the current system to a CAN message coding layer for message coding through a state feedback layer, and finally sends the state information to a vehicle control unit VCU.
一种基于状态机的矿用自卸车线控转向控制系统,包括以下步骤:(1)转向控制器SCU通过传感器数据处理层和CAN报文解析层接收传感器和整车控制器VCU的数据;(2)转向控制器SCU整合第一步的输入数据,提交给故障处理层进行筛查;(3)输入数据和故障数据整合提交给状态机模块进行工作模式切换;(4)转向控制器SCU执行当前转向模式的控制策略,计算输出;(5)输出控制层将输出数据发送到执行机构,驱动转向轮;(6)转向控制器SCU通过状态反馈层将当前系统的状态信息反馈到CAN报文编码层进行报文编码,并最终发送给整车控制器VCU。
Mining dump truck steer-by-wire control system based on state machine
一种基于状态机的矿用自卸车线控转向控制系统
2025-05-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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