Crawler walking control method and system

• Main Authors: LIU XIN, YUAN JINXIANG, LIU QIANG, SHEN YANG, SUN XINJIA, ZHU LONGXIAO, CAO YUNCHENG, YANG LIPING, SHAO LIBIN
• Format: Patent
• Language: Chinese; English
• Published: 03.05.2024
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; MOTOR VEHICLES; PERFORMING OPERATIONS; PHYSICS; REGULATING; TRAILERS; TRANSPORTING; VEHICLES IN GENERAL; VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISEPROVIDED FOR

The invention discloses a control method and system for crawler walking, and relates to the technical field of intelligent control, and the control method comprises the steps of adjusting the advancing direction, continuously controlling the rotation speed ratio of crawlers through a position deviation value, monitoring the crawlers in real time through the rotation speed ratio, detecting the difference value of the rotation speed ratio of the left crawler and the right crawler, and dynamically adjusting the walking sequence of the crawlers. And outputting an abnormal condition alarm and quickly responding and processing. According to the technical scheme, motion is finely controlled by designing the multi-stage adjusting state, a track speed ratio control strategy is formulated to avoid out-of-tolerance, a graded oil pressure alarm mechanism is set to monitor the equipment state, and the equipment automation degree, the motion accuracy, the fault response speed and the overall intelligent level are remarkabl