Wing sail vehicle, wing sail vehicle control method, device and storage medium
阅读说明:本技术 翼帆车、翼帆车控制方法、装置及存储介质 (Wing sail vehicle, wing sail vehicle control method, device and storage medium ) 是由 张连鑫 刘恒利 侯佳凡 钱辉环 林天麟 于 2019-10-30 设计创作,主要内容包括:本申请提供一种翼帆车、翼帆车控制方法、装置及存储介质,涉及机器人技术领域。所述翼帆车包括车体、翼帆模组和控制模块,车体包括车体框架、车轮和车轮转向装置,车轮和车轮转向装置设置在车体框架上;翼帆模组包括翼帆、翼帆转向装置,翼帆设置在翼帆转向装置上,翼帆转向装置设置在车体框架上;控制模块,包括处理器和风速风向传感器,风速风向传感器固定在车体上,风速风向传感器用于采集风速风向信息,处理器用于控制车轮转向装置调整车轮的角度,以及基于风速风向信息控制翼帆转向装置调整翼帆的角度。通过处理器基于风速风向自动调节翼帆角度来控制翼帆车的行进方向,提高了翼帆角度的控制精确程度及自动化程度。(The application provides a wing sail vehicle, a wing sail vehicle control method, a wing sail vehicle control device and a storage medium, and relates to the technical field of robots. The wing sail vehicle comprises a vehicle body, a wing sail module and a control module, wherein the vehicle body comprises a vehicle body frame, wheels and a wheel steering device, and the wheels and the wheel steering device are arranged on the vehicle body frame; the wing sail module comprises a wing sail and a wing sail steering device, wherein the wing sail is arranged on the wing sail steering device, and the wing sail steering device is arranged on the vehicle body frame; the control module comprises a processor and a wind speed and direction sensor, the wind speed and direction sensor is fixed on the vehicle body and used for collecting wind speed and direction information, and the processor is used for controlling the wheel steering device to adjust the angle of the wheel and controlling the wing sail steering device to adjust the angle of the wing sail based on the wind speed and direction information. The processor automatically adjusts the wing sail angle based on the wind speed and the wind direction to control the advancing direction of the wing sail vehicle, so that the control accuracy and the automation degree of the wing sail angle are improved.)
1. A wing sail vehicle, comprising: the system comprises a vehicle body, a wing sail module and a control module;
the vehicle body comprises a vehicle body frame, wheels and a wheel steering device, wherein the wheels and the wheel steering device are arranged on the vehicle body frame;
the wing sail module comprises a wing sail and a wing sail steering device, wherein the wing sail is arranged on the wing sail steering device, and the wing sail steering device is arranged on the vehicle body frame;
the control module comprises a processor and a wind speed and direction sensor, wherein the processor is respectively connected with the wind speed and direction sensor, the wheel steering device and the wing sail steering device in an electric connection mode, the wind speed and direction sensor is fixed on the vehicle body and used for collecting wind speed and direction information, the processor is used for controlling the wheel steering device to adjust the angle of the wheel and controlling the wing sail steering device to adjust the angle of the wing sail based on the wind speed and direction information.
2. The wingsail vehicle of claim 1, wherein the wingsail module further comprises a wingsail support and a wingsail seat, the wingsail is fixed on the wingsail seat by gluing, the wingsail seat is fixedly connected with the wingsail steering device, the wingsail steering device is fixedly arranged on the wingsail support, and the wingsail support is fixedly arranged on the vehicle body frame;
the wing sail is a rigid wing sail made of a specified foam material, which includes polystyrene foam.
3. The wingsail vehicle of claim 2, wherein the outer layer of the wingsail is provided with a protective layer that covers the wingsail.
4. A wingsail vehicle as claimed in claim 2 or 3, wherein the inside of the wingsail is provided with support tubes for preventing the wingsail from breaking laterally, the support tubes comprising carbon fibre tubes.
5. The wingsail vehicle of claim 1, wherein the control module further comprises an ultra-bandwidth measured tag and an inertial measurement unit, the ultra-bandwidth measured tag is configured to be in communication connection with an ultra-bandwidth positioning system, the ultra-bandwidth positioning system is configured to determine positioning information of the wingsail vehicle by positioning the ultra-bandwidth measured tag, the inertial measurement unit is configured to determine orientation information of the wingsail vehicle, the processor is respectively connected with the ultra-bandwidth positioning system and the inertial measurement unit, and the processor is configured to control the wingsail steering device to adjust an angle of the wingsail based on the positioning information, the orientation information, and the wind speed and direction information, and control the wheel steering device to adjust an angle of the wheel based on the positioning information and the orientation information.
6. The wingsail vehicle of claim 1, wherein the wheels comprise a left steering wheel and a right steering wheel, the left steering wheel and the right steering wheel are respectively connected with the vehicle body frame through rotating shafts, the supporting ends of the left steering wheel and the right steering wheel are respectively fixedly connected with a left short connecting rod and a right short connecting rod, the left short connecting rod and the right short connecting rod are rotatably connected with two ends of a long connecting rod, and the rotating shafts of the left steering wheel or the right steering wheel are connected with the wheel steering device through crank connecting rods.
7. A method for controlling a wingsail vehicle, applied to the wingsail vehicle according to any one of claims 1 to 6, the method comprising:
collecting the wind speed and wind direction information;
collecting orientation information of the wingsail vehicle;
acquiring positioning information of the wing sail vehicle;
controlling the wing sail steering device to adjust the angle of the wing sail based on the positioning information, the orientation information and the wind speed and direction information;
and controlling the wheel steering device to adjust the angle of the wheel based on the positioning information and the orientation information.
8. The method of claim 7, wherein the controlling the wing sail steering device to adjust the angle of the wing sail based on the wind speed and direction information, the orientation information, and the wind speed and direction information comprises:
determining a target driving speed V of the wingsail vehicle based on the positioning information and the orientation information0Current running speed V and wing sail vehicle attack angle gamma;
determining the wind direction as a zero degree direction based on the wind speed and wind direction information;
determining a wing sail attack angle alpha of the wing sail according to the zero degree direction;
the target running speed V based on the wingsail vehicle0The current running speed V, the wingsail vehicle attack angle gamma, the wingsail attack angle alpha and a wingsail input angle formula are used for controlling the wingsail steering device to adjust the angle of the wingsail;
the wing sail input angle formula comprises: η (K +1) ═ η (K) + Kpe(k)+Kd(e (K) -e (K-1)), where η is a sail input angle input to a proportional-derivative controller of the processor, η ═ γ - α, K is a time, and K is a timepAnd KdProportional-derivative control parameter, e (k) is the velocity error at time k, e (k) is V0(k)-V(k)。
9. The method of claim 7, wherein the adjusting the angle of the wheel based on the positioning information and the orientation information comprises:
determining a required driving angle gamma of the wingsail vehicle based on the positioning information and the orientation information0;
Based on the driving angle gamma0And controlling the wheel steering device to adjust the angle of the wheel according to a wheel angle input formula;
The wheel angle input formula includes: γ (K +1) ═ γ (K) + Kpe(k)+Kd(e (k) -e (k-1)), where γ is the wheel input angle input by the proportional-derivative controller of the processor, k is the time, e (k) is the wingsail vehicle angle of attack error at time k, and e (k) - γ0(k)-γ(k)。
10. A wingsail vehicle control device, applied to the wingsail vehicle according to any one of claims 1 to 6, the device comprising:
the wind speed and direction information acquisition module is used for acquiring the wind speed and direction information;
the orientation information acquisition module is used for acquiring the orientation information of the wingsail vehicle;
the positioning information acquisition module is used for acquiring the positioning information of the wingsail vehicle;
the wing sail angle adjusting module is used for controlling the wing sail steering device to adjust the angle of the wing sail based on the positioning information, the orientation information and the wind speed and direction information;
and the wheel angle adjusting module is used for controlling the wheel steering device to adjust the angle of the wheel based on the positioning information and the orientation information.
11. A storage medium having stored therein computer program instructions which, when executed by a processor, perform the method of controlling a wingsail vehicle as claimed in claim 7 or 9.
Technical Field
The application relates to the technical field of robots, in particular to a wing sail vehicle, a wing sail vehicle control method, a wing sail vehicle control device and a storage medium.
Background
When the tasks such as terrain exploration, material transportation and the like are executed, the traveling device which travels by utilizing wind power resources has the advantages of energy conservation and strong controllability, so that equipment such as a sailing vehicle robot and the like can be adopted to execute the tasks.
However, the existing small-sized land sail vehicle still adopts the traditional soft sail and cable to pull the sail, and the angle of the sail cannot be accurately controlled, so that the running precision of the land sail vehicle is influenced.
Disclosure of Invention
In view of the above, an object of the embodiments of the present invention is to provide a wing sail vehicle, a wing sail vehicle control method, a wing sail vehicle control device, and a storage medium, so as to solve the problem of low wing sail angle control accuracy and automation degree in the prior art.
The embodiment of the application provides a wing sail vehicle, which comprises a vehicle body, a wing sail module and a control module; the vehicle body comprises a vehicle body frame, wheels and a wheel steering device, wherein the wheels and the wheel steering device are arranged on the vehicle body frame; the wing sail module comprises a wing sail and a wing sail steering device, wherein the wing sail is arranged on the wing sail steering device, and the wing sail steering device is arranged on the vehicle body frame; the control module comprises a processor and a wind speed and direction sensor, wherein the processor is respectively connected with the wind speed and direction sensor, the wheel steering device and the wing sail steering device in an electric connection mode, the wind speed and direction sensor is fixed on the vehicle body and used for collecting wind speed and direction information, the processor is used for controlling the wheel steering device to adjust the angle of the wheel and controlling the wing sail steering device to adjust the angle of the wing sail based on the wind speed and direction information.
In the implementation process, the angle of the wing sail is not adjusted by adopting the pull rope, but the wing sail is directly driven by the wing sail steering device, so that the angle of the wing sail is directly adjusted, and the sensitivity and the accuracy of angle adjustment of the wing sail can be improved; meanwhile, the wing sail vehicle adopts the control module, and the wind speed and direction information obtained by the wind speed and direction sensor is used for regulating and controlling the angle of the wing sail in real time, so that the automation degree of the control of the wing sail is improved, and the regulation and control accuracy and the regulation and control efficiency are further improved.
Optionally, the wingsail module further comprises a wingsail support and a wingsail seat, the wingsail is fixed on the wingsail seat by gluing, the wingsail seat is fixedly connected with the wingsail steering device, the wingsail steering device is fixedly arranged on the wingsail support, and the wingsail support is fixedly arranged on the vehicle body frame; the wing sail is a rigid wing sail made of a specified foam material, which includes polystyrene foam.
In the implementation mode, the wing sail and the wing sail seat are directly fixed on the wing sail steering device, so that the output efficiency of the wing sail steering device is improved, and the angle of the wing sail can be more accurately and efficiently regulated and controlled; the wing sail made of the specified foam material is not easy to deform obviously when being windy and rotated, so that the wing sail can be accurately controlled.
Optionally, the outer layer of the wing sail is provided with a protective layer covering the wing sail.
In the above-described implementation, the reliability of the wing sail is improved by the provision of the protective layer.
Optionally, a support tube is provided inside the wing sail for preventing the wing sail from being laterally broken, the support tube comprising a carbon fiber tube.
In the implementation mode, the wing sail is supported in an anti-folding mode through the supporting tubes such as the carbon fiber tubes, and the reliability of the wing sail is further improved.
Optionally, the control module further includes an ultra-bandwidth measured tag and an inertial measurement unit, the ultra-bandwidth measured tag is configured to be in communication connection with an ultra-bandwidth positioning system, the ultra-bandwidth positioning system is configured to determine positioning information of the wing sail vehicle by positioning the ultra-bandwidth measured tag, the inertial measurement unit is configured to determine orientation information of the wing sail vehicle, the processor is respectively connected with the ultra-bandwidth positioning system and the inertial measurement unit, and the processor is configured to control the wing sail steering device to adjust an angle of the wing sail based on the positioning information, the orientation information, and the wind speed and direction information, and control the wheel steering device to adjust an angle of the wheel based on the positioning information and the orientation information.
In the implementation mode, the wing sail steering device is controlled to adjust the angle of the wing sail based on the positioning information, the orientation information and the wind speed and direction information, the wheel steering device is controlled to independently adjust the angle of the wheel based on the positioning information and the orientation information, two control processes of controlling the wing sail and controlling the advancing direction of the wing sail are decoupled, the control difficulty can be effectively reduced, and the robustness of the system is improved.
Optionally, the wheel including turn to the left wheel and turn to the right wheel, turn to the left wheel with turn to the support end of right wheel respectively through the pivot with body frame connects, turn to the left wheel with turn to the support end of right wheel respectively with left short connecting rod and right short connecting rod fixed connection, a left side short connecting rod with the both ends of right short connecting rod are rotated and are connected, turn to the left wheel or turn to the pivot of right wheel through the crank connecting rod with the wheel turns to the device and is connected.
In the implementation mode, the steering left wheel and the steering right wheel are connected together through the combination of the short connecting rod and the long connecting rod, so that the steering left wheel and the steering right wheel can perform synchronous steering motion relative to the vehicle body by taking the rotating shaft as the center, and the direction controllability of the wing sail vehicle is improved.
The embodiment of the application provides a control method of a wing sail vehicle, which is applied to the wing sail vehicle, and the method comprises the following steps: collecting the wind speed and wind direction information; collecting orientation information of the wingsail vehicle; acquiring the positioning information of the wing sail vehicle; controlling the wing sail steering device to adjust the angle of the wing sail based on the positioning information, the orientation information and the wind speed and direction information; and controlling the wheel steering device to adjust the angle of the wheel based on the positioning information and the orientation information.
In the implementation mode, the wing sail steering device is controlled to adjust the angle of the wing sail based on the positioning information, the orientation information and the wind speed and direction information, the wheel steering device is controlled to independently adjust the angle of the wheel based on the positioning information and the orientation information, two control processes of control over the wing sail and control over the advancing direction of the wing sail are decoupled, the control difficulty can be effectively reduced, the robustness of the system is improved, and the adjusting and controlling precision of the advancing angle of the wing sail vehicle is improved.
Optionally, the controlling the wing sail steering device to adjust the angle of the wing sail based on the wind speed and direction information, the orientation information, and the wind speed and direction information includes: determining a target driving speed V of the wingsail vehicle based on the positioning information and the orientation information0Current running speed V and wing sail vehicle attack angle gamma; determining the wind direction as a zero degree direction based on the wind speed and wind direction information; determining a wing sail attack angle alpha of the wing sail according to the zero degree direction; the target running speed V based on the wingsail vehicle0The current running speed V, the wingsail vehicle attack angle gamma, the wingsail attack angle alpha and a wingsail input angle formula are used for controlling the wingsail steering device to adjust the angle of the wingsail; the wing sail input angle formula comprises: η (K +1) ═ η (K) + Kpe(k)+Kd(e (K) -e (K-1)), where η is a sail input angle input to a proportional-derivative controller of the processor, η ═ γ - α, K is a time, and K is a timepAnd KdProportional-derivative control parameter, e (k) is the velocity error at time k, e (k) is V0(k)-V(k)。
In the embodiment, the wing sail angle regulation and control calculation is carried out in real time based on the wind speed and direction information, the orientation information and the positioning information by inputting the angle formula through the wing sail, and the wing sail angle control parameters are output through the proportional differential controller, so that the regulation and control efficiency and precision of the wing sail angle are improved.
Optionally, said adjusting the angle of the wheel based on the positioning information and the orientation information comprises: determining a required driving angle gamma of the wingsail vehicle based on the positioning information and the orientation information0(ii) a Based on the driving angle gamma0Controlling the wheel steering device to adjust the angle of the wheel by a wheel angle input formula; the wheel angle input formula includes: γ (K +1) ═ γ (K) + Kpe(k)+Kd(e (k) -e (k-1)), where γ is the wheel input angle input by the proportional-derivative controller of the processor, k is the time, e (k) is the wingsail vehicle angle of attack error at time k, and e (k) - γ0(k)-γ(k)。
In the embodiment, the wheel angle is input into the formula, the wheel angle is regulated and calculated in real time based on the orientation information and the positioning information, and the wheel angle control parameters are output through the proportional differential controller, so that the regulation and control efficiency and precision of the wheel angle are improved.
The embodiment of the present application further provides a device for controlling a wing sail vehicle, which is applied to the wing sail vehicle, and the device includes: the wind speed and direction information acquisition module is used for acquiring the wind speed and direction information; the orientation information acquisition module is used for acquiring the orientation information of the wingsail vehicle; the positioning information acquisition module is used for acquiring the positioning information of the wingsail vehicle; the wing sail angle adjusting module is used for controlling the wing sail steering device to adjust the angle of the wing sail based on the positioning information, the orientation information and the wind speed and direction information; and the wheel angle adjusting module is used for controlling the wheel steering device to adjust the angle of the wheel based on the positioning information and the orientation information.
In the implementation mode, the wing sail steering device is controlled to adjust the angle of the wing sail based on the positioning information, the orientation information and the wind speed and direction information, the wheel steering device is controlled to independently adjust the angle of the wheel based on the positioning information and the orientation information, two control processes of control over the wing sail and control over the advancing direction of the wing sail are decoupled, the control difficulty can be effectively reduced, the robustness of the system is improved, and the adjusting and controlling precision of the advancing angle of the wing sail vehicle is improved.
Optionally, the wing sail angle adjustment module is specifically configured to: determining a target driving speed V of the wingsail vehicle based on the positioning information and the orientation information0Current running speed V and wing sail vehicle attack angle gamma; determining the wind direction as a zero degree direction based on the wind speed and wind direction information; determining a wing sail attack angle alpha of the wing sail according to the zero degree direction; the target running speed V based on the wingsail vehicle0The current running speed V, the wingsail vehicle attack angle gamma, the wingsail attack angle alpha and a wingsail input angle formula are used for controlling the wingsail steering device to adjust the angle of the wingsail; the wing sail input angle formula comprises: η (K +1) ═ η (K) + Kpe(k)+Kd(e (K) -e (K-1)), where η is a sail input angle input to a proportional-derivative controller of the processor, η ═ γ - α, K is a time, and K is a timepAnd KdProportional-derivative control parameter, e (k) is the velocity error at time k, e (k) is V0(k)-V(k)。
In the embodiment, the wing sail angle regulation and control calculation is carried out in real time based on the wind speed and direction information, the orientation information and the positioning information by inputting the angle formula through the wing sail, and the wing sail angle control parameters are output through the proportional differential controller, so that the regulation and control efficiency and precision of the wing sail angle are improved.
Optionally, the wheel angle adjustment module is specifically configured to: determining a required driving angle gamma of the wingsail vehicle based on the positioning information and the orientation information0(ii) a Based on the driving angle gamma0Controlling the wheel steering device to adjust the angle of the wheel by a wheel angle input formula; the wheel angle input formula includes: γ (K +1) ═ γ (K) + Kpe(k)+Kd(e (k) -e (k-1)), where γ is the wheel input angle input by the proportional-derivative controller of the processor, k is the time, e (k) is the wingsail vehicle angle of attack error at time k, and e (k) - γ0(k)-γ(k)。
In the embodiment, the wheel angle is input into the formula, the wheel angle is regulated and calculated in real time based on the orientation information and the positioning information, and the wheel angle control parameters are output through the proportional differential controller, so that the regulation and control efficiency and precision of the wheel angle are improved.
An embodiment of the present application further provides a storage medium, where computer program instructions are stored in the storage medium, and when the computer program instructions are read and executed by a processor, the steps in any one of the above implementation manners are performed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a wingsail vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a wheel assembly according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a sail module according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a connection relationship between control modules according to an embodiment of the present disclosure;
fig. 5 is a schematic flow chart of a method for controlling a wingsail vehicle according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of the force applied to the sail of the present application when facing the wind;
FIG. 7 is a schematic view of the input angles of the wing sail for generating maximum lift for different driving directions according to the embodiment of the present disclosure;
fig. 8 is a block diagram illustrating a control apparatus for a wingsail vehicle according to an embodiment of the present disclosure.
Icon: 10-wingsail vehicle; 12-a vehicle body; 122-a body frame; 124-wheel; 1241-steering the left wheel; 1242-turn right wheel; 126-wheel steering; 131-left short link; 132-right short link; 133-long connecting rod; 134-crank link; 14-a wing sail module; 142-wing sails; 144-wing sail steering devices; 146-wing sail mount; 148-wingsail support; 16-a control module; 162-a processor; 164-wind speed and direction sensor; 166-ultra-wideband tag under test; 168-an inertial measurement unit; 30-wingsail vehicle control; 31-a wind speed and direction information acquisition module; 32-orientation information acquisition module; 33-positioning information acquisition module; 34-a wing sail angle adjustment module; 35-wheel angle adjustment module.
Detailed Description
The technical solution in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
The research of the applicant finds that the existing land sail vehicle is not beneficial to accurately regulating and controlling the wing sail by adopting the traditional soft sail and cable to pull the sail, and simultaneously has the problems of higher difficulty and lower efficiency in regulating the wing sail and the vehicle running direction.
In order to solve the above problems, the present embodiment employs a
Referring to fig. 1, fig. 1 is a schematic structural diagram of a wingsail vehicle according to an embodiment of the present disclosure.
The
The
The
Alternatively, in consideration of the fact that the
In this embodiment, the connection modes between the
The
Alternatively, to adjust the traveling direction of the wheels of the
In this embodiment, the lengths of the axles of the two rear wheels may be longer than those of the two front wheels to improve the anti-rollover performance, and the shorter axles of the front wheels may reduce the turning radius of the
The
Referring to fig. 2, fig. 2 is a schematic connection diagram of a wheel according to an embodiment of the present disclosure.
Fig. 2 shows a steered
Alternatively, in order to enable the
It should be understood that, in order to ensure the steering accuracy and smoothness of the
Further, in order to drive the steered wheel to be angularly adjusted by the
Alternatively, in other embodiments, the
Alternatively, the fixed connection between the support end of the steering wheel and the connecting rod may be a bolt-on connection, and the rotational connection may be a pin connection, a cylindrical connection, or other connection capable of rotating around a shaft.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a wing sail module according to an embodiment of the present disclosure.
The
Optionally, in order to improve the stability of the
The wing sail of the existing land sail vehicle is usually a soft sail, and can deform when being exposed to wind, so that the wind exposure angle changes, and in order to improve the steering accuracy of the
Alternatively, the airfoil of
When the
Alternatively, the
Further, in order to prevent the wing sail from being damaged by impact, abrasion, and the like, the outer surface of the
The
The
It should be understood that the wing
Further, the wing
The
The
Optionally, the
The wind speed and
Alternatively, the present embodiment provides the wind speed and
After determining the wind speed and direction information, the
The
Specifically, the ultra-wideband positioning system may include a plurality of (generally, three or more) positioning base stations, where the plurality of positioning base stations transmit pulse signals to the
The
Specifically, the connection relationship between the components of the
How to adjust the wing sail angle based on the positioning information, the orientation information, and the wind speed and direction information, and how to adjust the wheel angle based on the positioning information and the orientation information will be specifically described in the following wing sail vehicle control method.
In order to more accurately control the traveling direction of the
Referring to fig. 5, fig. 5 is a flowchart illustrating a method for controlling a wingsail vehicle according to an embodiment of the present disclosure, where the method is implemented by a
step S21: and collecting wind speed and wind direction information.
Step S22: collecting the orientation information of the wingsail vehicle.
Step S23: and acquiring the positioning information of the wing sail vehicle.
The positioning information is obtained by positioning the ultra-bandwidth measured tag by the ultra-bandwidth positioning system.
Step S24: and controlling a wing sail steering device to adjust the angle of the wing sail based on the positioning information, the orientation information and the wind speed and direction information.
Specifically, step S24 may include the following sub-steps:
step S24.1: determining a target driving speed V of a wingsail vehicle based on positioning information and orientation information0Current driving speed V and wing sail vehicle attack angle gamma.
The present embodiment can determine the driving route and the plan of the
The force provided by the
When the
Step S24.2: the wind direction is determined to be a zero degree direction, i.e., 0 °, based on the wind speed and direction information.
Step S24.3: and determining the wingsail attack angle alpha of the wingsail according to the zero-degree direction.
The angle of attack is an included angle between the projection of the velocity vector on the longitudinal symmetry plane and the axis of the moving object, and the wing sail angle α needs to be determined according to the current running speed V and the current angle of the
Step S24.4: target running speed V based on wing sail vehicle0And controlling a wing sail steering device to adjust the angle of the wing sail by using the current running speed V, the wing sail vehicle attack angle gamma, the wing sail attack angle alpha and a wing sail input angle formula.
The wingsail vehicle angle of attack γ of the
Therefore, the present embodiment can unify the angle control of the downwind and the windward direction by using the proportional-derivative controller, wherein the control law of the proportional-derivative controller is as follows: when the controlled variable deviates, the output signal increment of the regulator is proportional to the deviation magnitude and the derivative of the deviation with respect to time (deviation transformation speed). The wing sail input angle formula comprises eta (K +1) eta (K) + Kpe(k)+Kd(e(k)-e(k-1)),Where K is time, KpAnd KdProportional-derivative control parameter, e (k) is the velocity error at time k, e (k) is V0(k)-V(k)。
Notably, the parameter K is such that, in downwind and upwind conditions, the parameter K is substantially constantpAnd KdShould be different. The range of the sail input angle η (k) of the
Step S25: and controlling the wheel steering device to adjust the angle of the wheel based on the positioning information and the orientation information through the processor.
Specifically, step S25 may include the following sub-steps:
step S25.1: determining the required driving angle gamma of the wingsail vehicle based on the positioning information and the orientation information0。
The present embodiment can determine the driving route and the plan of the
Step S25.2: based on the angle of travel gamma0And controlling the wheel steering device to adjust the angle of the wheels by using a wheel angle input formula.
The wheel angle input formula includes: γ (K +1) ═ γ (K) + Kpe(k)+Kd(e (k) -e (k-1)), where γ is the wheel input angle input by the
It should be understood that the present embodiment uses the wingsail vehicle angle of attack as the wheel input angle, and the two may be equivalent.
In the implementation manner, while the wing
In order to implement the method for controlling the wingsail vehicle, the present embodiment further provides a wingsail
The wingsail
the wind speed and direction
the orientation
the positioning
the wing sail
and a wheel
Optionally, the wing sail
Optionally, the wheel
The embodiment of the application also provides a storage medium, wherein computer program instructions are stored in the storage medium, and when the computer program instructions are read and executed by a processor, the steps in the control method of the wing sail vehicle are executed.
In summary, the present application provides a wing sail vehicle, a wing sail vehicle control method, a wing sail vehicle control device, and a storage medium, where the wing sail vehicle includes a vehicle body, a wing sail module, and a control module; the vehicle body comprises a vehicle body frame, wheels and a wheel steering device, and the wheels and the wheel steering device are arranged on the vehicle body frame; the wing sail module comprises a wing sail and a wing sail steering device, wherein the wing sail is arranged on the wing sail steering device, and the wing sail steering device is arranged on the vehicle body frame; the control module comprises a processor and a wind speed and direction sensor, the processor is respectively electrically connected with the wind speed and direction sensor, the wheel steering device and the wing sail steering device, the wind speed and direction sensor is fixed on the vehicle body and used for collecting wind speed and direction information, and the processor is used for controlling the wheel steering device to adjust the angle of the wheel and controlling the wing sail steering device to adjust the angle of the wing sail based on the wind speed and direction information.
In the implementation process, the angle of the wing sail is not adjusted by adopting the pull rope, but the wing sail is directly driven by the wing sail steering device, so that the angle of the wing sail is directly adjusted, and the sensitivity and the accuracy of angle adjustment of the wing sail can be improved; meanwhile, the wing sail vehicle adopts the control module, and the wind speed and direction information obtained by the wind speed and direction sensor is used for regulating and controlling the angle of the wing sail in real time, so that the automation degree of the control of the wing sail is improved, and the regulation and control accuracy and the regulation and control efficiency are further improved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. The apparatus embodiments described above are merely illustrative, and for example, the block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of devices according to various embodiments of the present application. In this regard, each block in the block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams, and combinations of blocks in the block diagrams, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Therefore, the present embodiment further provides a readable storage medium, in which computer program instructions are stored, and when the computer program instructions are read and executed by a processor, the computer program instructions perform the steps of any of the block data storage methods. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a RanDOm Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
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