The invention discloses a walking device for a crawler chassis, a control method and a crawler chassis system. A walking device for a track chassis comprises a linear walking controller, and the linear walking controller is configured to receive an input longitudinal speed instruction; acquiring the rotating speeds of the first and second driving wheels and the transverse deflection angle of the crawler chassis in real time; determining a reference drive signal based on the longitudinal speed command and the first drive wheel speed; generating a drive signal first correction value based on the lateral deflection angle; determining the total transverse dislocation amount of the crawler chassis based on the transverse deflection angle and the rotating speed of the second driving wheel; generating a driving signal second correction value based on the total transverse dislocation amount; taking the larger absolute value in the first correction value of the driving signal and the second correction value of the driving signal as a correction value of the driving signal; generating first and second driving signals based on the reference driving signal and the driving signal correction value; and controlling the opening degree of the first and second electric proportional valves based on the first and second driving signals.
用于履带底盘的行走装置及控制方法、履带底盘系统。一种用于履带底盘的行走装置,包括直线行走控制器,其配置成:接收输入的纵向速度指令;实时获取第一和第二驱动轮转速、履带底盘的横向偏转角;基于纵向速度指令和第一驱动轮转速确定基准驱动信号;基于横向偏转角产生驱动信号第一修正值;基于横向偏转角与第二驱动轮转速确定履带底盘的横向错位总量;基于横向错位总量产生驱动信号第二修正值;将驱动信号第一修正值和驱动信号第二修正值中绝对值较大者作为驱动信号修正值;基于基准驱动信号和驱动信号修正值产生第一和第二驱动信号;基于第一和第二驱动信号控制第一和第二电比例阀的开度。
Walking device for crawler chassis, control method and crawler chassis system
用于履带底盘的行走装置及控制方法、履带底盘系统
2025-05-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |