Research on the multi axis coordinated speed control method of heavy special equipment vehicles

DOI:	10.11809/bqzbgcxb2023.06.035
Keywords:	heavy special equipment; vehicle multi axis coordination; speed control; B spline curve; virtual main shaft; electronic cam
Abstract:	The parking positioning of heavy special equipment has high requirements on the driver’s driving skills, some scenarios require the driver and the commander to work together, and the deviation of the driving trajectory of a vehicle leads to a low efficiency and an increased vehicle energy consumption. Aiming at these problems, this paper proposes a multi axis coordinated speed control method for heavy special equipment vehicles to reasonably control the multi axis coordinated motion trajectory and reduce vehicle energy consumption. With the obtained speed and acceleration of the virtual main shaft motion of the vehicle as the constraint conditions, the proposed control method uses the cubic spline interpolation method to establish a transmission relationship model between the virtual main shaft and the slave shaft of the vehicle. Based on the constraints and the transmission relationship model, combined with the S shape speed control algorithm, the proposed control method designs an optimal speed control model of vehicle multi axis coordinated motions to realize vehicle multi axis coordinated speed control. The simulation results show that the proposed method can effectively control the displacement, speed and angle of both the main shaft and the slave shaft, and effectively control the multi axis coordination periodicity of the vehicle, which makes a small gap with the ideal parameters and a high control accuracy. It can also reduce the energy consumption of the vehicle and improve the overall vehicle efficiency.
Published:	2023-06-28
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