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A platform for research: civil engineering, architecture and urbanism
Carry-scraper steering control method and device based on contour model and carry-scraper
The invention discloses a carry-scraper steering control method and device based on a contour model and a carry-scraper, and belongs to the field of carry-scraper control. The method comprises the following steps: acquiring contour information and walking information of the carry-scraper; determining position deviation and direction deviation according to the contour information and the walking information; if the position deviation is larger than a first preset threshold value and the direction deviation is larger than a second preset threshold value, whether the movement direction of the vehicle body deviates from the path direction or not is judged according to the walking information; if yes, the opening of the reversing valve is adjusted according to a preset enlarging strategy; if not, the opening of the reversing valve is adjusted according to a preset decreasing strategy; if the position deviation is larger than a first preset threshold value and the direction deviation is smaller than or equal to a second preset threshold value or the position deviation is smaller than or equal to the first preset threshold value and the direction deviation is larger than the second preset threshold value, the opening of the reversing valve is adjusted according to a preset decreasing strategy. A scraper contour model is adopted, a class fuzzy model is set, and the purpose of safe driving is achieved on the premise that equipment safety is guaranteed.
本发明公开了一种基于轮廓模型的铲运机转向控制方法、装置及铲运机，属于铲运机控制领域。本发明通过获取铲运机的轮廓信息和行走信息；根据轮廓信息和行走信息确定位置偏差和方向偏差；若所述位置偏差大于第一预设阈值同时所述方向偏差大于第二预设阈值时，根据行走信息判断车体运动方向是否为偏离路径方向；若是，以预设变大策略调整换向阀开口；若否，以预设变小策略调整换向阀开口；若位置偏差大于第一预设阈值同时方向偏差小于或等于第二预设阈值或位置偏差小于或等于第一预设阈值同时方向偏差大于第二预设阈值时，以预设变小策略调整换向阀开口。采用铲运机轮廓模型，设定类模糊模型，在保障装备安全的前提下，达到安全驾驶的目的。
Carry-scraper steering control method and device based on contour model and carry-scraper
The invention discloses a carry-scraper steering control method and device based on a contour model and a carry-scraper, and belongs to the field of carry-scraper control. The method comprises the following steps: acquiring contour information and walking information of the carry-scraper; determining position deviation and direction deviation according to the contour information and the walking information; if the position deviation is larger than a first preset threshold value and the direction deviation is larger than a second preset threshold value, whether the movement direction of the vehicle body deviates from the path direction or not is judged according to the walking information; if yes, the opening of the reversing valve is adjusted according to a preset enlarging strategy; if not, the opening of the reversing valve is adjusted according to a preset decreasing strategy; if the position deviation is larger than a first preset threshold value and the direction deviation is smaller than or equal to a second preset threshold value or the position deviation is smaller than or equal to the first preset threshold value and the direction deviation is larger than the second preset threshold value, the opening of the reversing valve is adjusted according to a preset decreasing strategy. A scraper contour model is adopted, a class fuzzy model is set, and the purpose of safe driving is achieved on the premise that equipment safety is guaranteed.
本发明公开了一种基于轮廓模型的铲运机转向控制方法、装置及铲运机，属于铲运机控制领域。本发明通过获取铲运机的轮廓信息和行走信息；根据轮廓信息和行走信息确定位置偏差和方向偏差；若所述位置偏差大于第一预设阈值同时所述方向偏差大于第二预设阈值时，根据行走信息判断车体运动方向是否为偏离路径方向；若是，以预设变大策略调整换向阀开口；若否，以预设变小策略调整换向阀开口；若位置偏差大于第一预设阈值同时方向偏差小于或等于第二预设阈值或位置偏差小于或等于第一预设阈值同时方向偏差大于第二预设阈值时，以预设变小策略调整换向阀开口。采用铲运机轮廓模型，设定类模糊模型，在保障装备安全的前提下，达到安全驾驶的目的。
Carry-scraper steering control method and device based on contour model and carry-scraper
基于轮廓模型的铲运机转向控制方法、装置及铲运机
ZHANG YONGXI (author) / XU CHUN (author) / ZHOU KEPING (author) / YAO ZHENGONG (author) / CHENG XILIANG (author) / YANG CHENGYE (author) / YANG CHEN (author)
2023-05-30
Patent
Electronic Resource
Chinese
IPC:
E02F
Baggern
,
DREDGING
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