CN101716930B - Multi-vehicle multi-task cooperative control system - Google Patents
Multi-vehicle multi-task cooperative control system Download PDFInfo
- Publication number
- CN101716930B CN101716930B CN200910311991A CN200910311991A CN101716930B CN 101716930 B CN101716930 B CN 101716930B CN 200910311991 A CN200910311991 A CN 200910311991A CN 200910311991 A CN200910311991 A CN 200910311991A CN 101716930 B CN101716930 B CN 101716930B
- Authority
- CN
- China
- Prior art keywords
- control unit
- controller
- modular cart
- bus
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a control system used for self-propelled module transporters, and discloses a multi-vehicle multi-task cooperative control system, which comprises a power control unit, module transport vehicles and a module vehicle control unit, wherein the module transport vehicles are in mechanical hard-wired connection with each other front and back; the power control unit is connected with the first module transport vehicle and is also connected with an electronic control unit ECU of an engine; the module vehicle control unit is connected with a terminal executing mechanism of each module transport vehicle; the power control unit is connected with the module vehicle control unit; and the power control unit acquires an operational command and output data of the electronic control unit ECU of the engine and transmits the operational command and the output data to the module vehicle control unit so as to control the terminal executing mechanism of each module transport vehicle to execute corresponding operation. The multi-vehicle multi-task cooperative control system has the characteristics of adopting the module vehicle control unit to receive the operational command and to control the terminal executing mechanism of each module vehicle to execute the corresponding operation so as to realize the functions of cooperatively controlling steering, running and lifting and the like of each module transporter after splicing.
Description
Technical field
The present invention relates to a kind of control system, be mainly used on the self-propelled module transport trolley.
Background technology
Fluid-link steering at present drives the load transportation car and extensively applies to shipbuilding, logistics field.Because environment for use is special, such vehicle all requires to have multi-mode steering, driving and descending operation function flexibly.Wherein, realize that multi-mode steering function vehicle must be all-hydraulic independent steering structure, when Vehicular turn, need the speed and the angle of each wheel flutter of Collaborative Control, existing technology is aimed at the Collaborative Control that turns under this bicycle situation more.Turning under the bicycle situation is to adopt the rotation of mechanical pull bar pulling steering shaft in the prior art.Self-propelled modularization transport trolley requires each transport trolley can disregard order, and is longitudinal spliced arbitrarily.Vehicle after longitudinal spliced is also wanted laterally separated by a distancely to carry out soft splicing, the collaborative simultaneously multi-mode steering of carrying out of number car, and walking, functions such as up-down, but do not provide the Collaborative Control scheme under the multi-vehicle multi-task complex situations in the prior art.
There is following defective in prior art in practical application:
1. adopt the existing scheme of mechanical pull bar to turn to pattern single, can't realize walking crosswise, diagonal, original place multi-mode steering function such as turn-take can't be used in less place, and the transhipment large-sized structural parts often needs bigger place regulate the orientation, and work efficiency is lower.
Summary of the invention
Technical matters to be solved by this invention provides a kind of multi-vehicle multi-task cooperative control system; It has the end effector that adopts the modular cart control unit to receive operating order and control each modular cart and makes corresponding operating, thereby realizes that spliced each module transport trolley can Collaborative Control turns to, the characteristics of functions such as walking and lifting.
For solving the problems of the technologies described above, a kind of multi-vehicle multi-task cooperative control system provided by the invention comprises power control unit, module transport trolley and engine electronic control unit ECU; Machinery is hard before and after the said module transport trolley connects; Said power control unit is connected with first module transport trolley, and said power control unit also is connected with engine electronic control unit ECU, it is characterized in that; Also comprise the modular cart control unit
Said modular cart control unit is connected with the end effector of each module transport trolley; Said power control unit and modular cart control unit are through total wire joint; Said power control unit is responsible for the acquisition operations instruction, and the data of engine electronic control unit ECU output, and the operating order that collects is sent to the modular cart control unit; After the modular cart control unit receives operating order, control the end effector of each module transport trolley and carry out corresponding operating; The master controller of power control unit is gathered the relevant portion of control driving engine in engine electronic control unit ECU and the operating order; After treatment; The master controller of power control unit output associated control signal is to the engine control input end of engine electronic control unit ECU, thus the startup of control driving engine, stop working and throttle big or small.
Optimized technical scheme does; Said modular cart control unit comprises modular cart controller, angle calculation controller, expansion module controller and first toggle switch; The end effector of said expansion module controller link block transport trolley; Said first toggle switch is connected with the modular cart controller; Be used for importing when the position of front module transport trolley, interconnect through first bus between the modular cart controller in the modular cart control unit, angle calculation controller and the expansion module controller in vertical formation;
Said power control unit and said modular cart control unit are through second total wire joint; Make through same second bus bonded assembly power control unit and each module transport trolley and form the longitudinal spliced network in front and back; The first toggle switch signal is imported through current modular cart controller, and informs the modular cart controller of other modular cart on single file through second bus by the modular cart controller;
Operational order is by said power control unit collection and be sent on second bus; Longitudinal spliced module transport vehicle is by the modular cart controller in the modular cart control module of himself installing; Obtain operational order and toggle switch signal from second bus; After treatment data are sent on first bus of self; When telling operational order and be the angle steering order, the angle calculation controller is gathered this data command output and control terminal executing agency carries out corresponding operating; When to tell operational order be non-angle steering order, the expansion module controller was gathered this data command output and control terminal executing agency carries out corresponding operating.
The technical scheme that is more preferably does; Said power power control unit comprises master controller, remote controller and communication module; Said remote controller is connected with communication module, interconnects through first bus between the master controller in the power control unit, communication module and the driving engine;
Operating order is through the remote controller input of said power control unit; By sending on first bus with remote controller bonded assembly communication module; The operating order that master controller is imported through the first bus collection; And be sent on second bus, longitudinal spliced module transport trolley obtains operating order through the modular cart control unit of himself installing from second bus, and the control terminal actuating unit is carried out corresponding operating.
Improvement project to said structure does; With power control unit on also comprise second toggle switch in the modular cart control unit of first module transport trolley of bonded assembly; Said second toggle switch is used for importing the position of current modular cart in horizontal formation, interconnects through first bus between the modular cart controller in the modular cart control unit, angle calculation controller, expansion module controller, first toggle switch and second toggle switch;
Also comprise the 3rd bus; Said the 3rd bus and each are said form through same second bus bonded assembly power control unit and each module transport trolley before and after top in the longitudinal spliced network; Promptly connect near the angle calculation controller in the modular cart control unit on the module transport trolley of power control unit; To realize being flexible coupling between each file transport trolley; The second toggle switch signal is imported through connected modular cart controller, passes to the angle calculation controller by the modular cart controller through first bus then, again by the control system communication of angle calculation controller through the 3rd bus and another file;
Said power control unit also comprises and car mode switch and principal and subordinate's select switch; When also the car mode switch is off-state; The modular cart controller of modular cart control unit does not allow the horizontally-spliced communication network of current longitudinal spliced modular cart bonded assembly on the 3rd bus to send data; When also the car mode switch is closure state, then allow; When principal and subordinate's switch was off-state, the remote controller communication module can not instruct on the 3rd bus through the transmit operation of angle calculation controller, when principal and subordinate's switch is closure state, then allowed.
Improvement project to said structure does; With power control unit on also comprise second toggle switch in the modular cart control unit of first module transport trolley of bonded assembly; Said second toggle switch is used for importing the position of current modular cart in horizontal formation, interconnects through first bus between the modular cart controller in the modular cart control unit, angle calculation controller, expansion module controller, first toggle switch and second toggle switch;
Also comprise the 3rd bus; Said the 3rd bus and each are said form through same second bus bonded assembly power control unit and each module transport trolley before and after top in the longitudinal spliced network; Promptly connect near the angle calculation controller in the modular cart control unit on the module transport trolley of power control unit; To realize being flexible coupling between each file transport trolley; The second toggle switch signal is imported through connected modular cart controller, passes to the angle calculation controller by the modular cart controller through first bus then, again by the control system communication of angle calculation controller through the 3rd bus and another file;
Remote controller communication module in the said power control unit comprises and car mode switch and principal and subordinate's select switch; When also the car mode switch is off-state; The modular cart controller of modular cart control unit does not allow the horizontally-spliced communication network of current longitudinal spliced modular cart bonded assembly on the 3rd bus to send data; When also the car mode switch is closure state, then allow; When principal and subordinate's switch was off-state, the remote controller communication module can not instruct on the 3rd bus through the transmit operation of angle calculation controller, when principal and subordinate's switch is closure state, then allowed.
The technical scheme that is more preferably does, also comprises electronically controlled proportional valve and angular transducer, and said electronically controlled proportional valve is connected with the mouth of said expansion module controller, and said angular transducer is connected with steering shaft, to obtain the actual angle of steering shaft.
The invention has the advantages that:
1. the present invention is mainly used on the self-propelled module transport trolley.Self-propelled module transport trolley need not the tractor truck traction, and 6 axis module transpories trolley, modular cart control unit and power control unit that the 4 axis module transpories trolley that it is driven by band, band drive are formed.Through using the present invention, self-propelled module transport trolley can realize taking turns full multi-mode steering and from walking function.Can splice front and back free hard (mechanical connection is arranged) between the module transport vehicle; The left and right sides soft (not having machinery connects) splicing; But functions such as spliced car group Collaborative Control turns to, walking and lifting; Thereby can realize walking crosswise, multi-mode steering function such as diagonal, original place are turn-taked; Solve in the existent technique and can't use in less place; The transhipment large-sized structural parts often needs bigger place to regulate the orientation, the problem that operating efficiency is lower.
2. the communication network aspect of multi-vehicle multi-task system control sytsem provided by the present invention has taken into full account extendible demand, no matter modular cart vertically or is transversely being spliced expansion, existing control system and communication network can meet the demands.
3. adopt self-propelled modularization transport trolley of the present invention, can realize fighting recklessly and connect or the soft splicing of a segment distance of being separated by, thereby can transport the ultra wide framing member of super large.Owing to possess full wheel multi-mode steering function, compare traditional rod-pulling type self-propelled modular cart, this car can realize turning to flexibly function, can reduce greatly using the requirement in place in narrow and small place operation.
3. after the present invention was applied to self-propelled module transport trolley, the load carrying ability of self-propelled modular cart can increase through connecting method, and the distance of share-car can be controlled flexibly.Can be widely used in big part transportation, road and bridge engineering, ocean engineering, harbour, shipbuilding industry etc. at civil area.In military use, can be used to deliver beast, spacecraft, submarine etc.Field of application very extensively.
Through using the present invention, self-propelled module transport trolley can realize taking turns full multi-mode steering and from walking function.Between the module transport trolley can before and after free hard (mechanical connection is arranged) splicing, the left and right sides soft (not having machinery connects) splicing, but functions such as spliced car group Collaborative Control turns to, walking and lifting.The present invention is simple in structure, easy to make, be easy to install, cost is low, simple to operate, result of use is good, applied range.
Description of drawings
Below in conjunction with the accompanying drawing and the specific embodiment technical scheme of the present invention is further specified.
Fig. 1 forms and Principle of Communication figure for control system of the present invention.
Fig. 2 is the toggle switch fundamental diagram.Wherein, ● the expression internal circuit is the ON state of (being connected with the COM terminal).
Fig. 3-1 turns to scheme drawing for the full wheel Eight characters.
Fig. 3-2 is a revolving die formula scheme drawing before the full wheel.
Fig. 3-3 is full wheel diagonal pattern diagram.
Fig. 3-4 is a full wheel back revolving die formula scheme drawing.
Fig. 3-5 is full wheel 90 degree pattern diagram.
Fig. 3-6 is the full pattern diagram of turn-taking of taking turns.
Fig. 3-7 is full wheel transverse mode scheme drawing.
Fig. 3-8 is full wheel reset mode scheme drawing.
The specific embodiment
At first, form and Principle of Communication figure, the hardware device of multi-vehicle multi-task system control sytsem provided by the invention is selected with reference to control system of the present invention shown in Figure 1.In order to satisfy the rough use requirement, we have selected for use BOSCH-REXROTH company of German Bosch to have the master controller of the RC6-9 controller of high-protection level as The whole control system; Because IO port is many, we have selected the very high expansion module RCE12-4 controller from BOSCH-REXROTH company of German Bosch of reliability equally for use; Angle calculation need take a large amount of system resource, and in order to ensure stability, we have selected for use Finland EPEC company to have 2038 controller special disposal angle calculation of floating point operation function.
Next, communication network of the present invention is made up: we are employed in the very ripe and failure-free CANBUS communication modes of engineering machinery field, mainly use CANBUS communications protocol such as CANBUS2.0B, CANOPEN and carry out the communication between the controller.Under the multi-vehicle multi-task condition, hardware control system composition and Principle of Communication figure are as shown in Figure 1.Wherein, CANBUS1 is the internal module car control unit communication network of single power control unit (PPU) and individual module transport trolley, CANBUS2 is power control unit and the communication network of module transport trolley after front and back are longitudinal spliced.CANBUS3 is front and back communication networks when horizontally-spliced again after longitudinal spliced.
Master controller in the power unit passes through CANBUS1 and engine electronic control unit ECU communication, and through the startup of engine electronic control unit ECU control driving engine, flame-out and throttle.
Power control unit is responsible for the acquisition operations instruction; Also gather the data of engine electronic control unit ECU outputs such as the gentle rotating speed of engine water; And the operating order that collects sent to the modular cart control unit; After the modular cart control unit receives operating order, control the end effector of each module transport trolley and carry out corresponding operating; The master controller of the data power control unit of the engine electronic control unit ECU that collects output is gathered the relevant portion of controlling driving engine in engine electronic control unit ECU and the operating order; After treatment; The master controller of power control unit output associated control signal is to the engine control input end of engine electronic control unit ECU, thus the startup of control driving engine, stop working and throttle big or small.
After the splicing of self-propelled modularization transport trolley; In fact formed a module transport trolley array of forming by many individual module transpories trolley; In order to calculate the angle-data of each steering shaft in each module transport trolley, must inform each single module transport trolley position in array of control system.We have installed first toggle switch on each module transport trolley; Second toggle switch is installed in the modular cart control unit of first module transport trolley of power unit bonded assembly; Can need arrange connection according to the scene freely for the ease of the module transport trolley; Preferred scheme is for all to install first toggle switch and second toggle switch on each modular cart, be respectively applied for the position in the position of the current modular cart of input in vertical formation and the horizontal formation.The principle of work of toggle switch is as shown in Figure 2.
The effect of first toggle switch is to let control system discern the location information of each module transport trolley in the single file, for multimodal angle calculation provides the data support.The toggle switch signal is imported through the modular cart controller when the front module transport trolley, and informs the modular cart controller of other module transport trolley on single file through CANBUS2 by the modular cart controller.
Second toggle switch (only be connected on first module transport trolley of power unit effectively) is same through the modular cart controller input when the front module transport trolley; Pass to the angle calculation controller by the modular cart controller through CANBUS1 then, again by of the control system communication of angle calculation controller through CANBUS3 and another file.
We are longitudinal spliced with each power unit and several module transpories trolley to be a unit, disposes a remote control equipment (RCE) and carries out the input of operating order.When many files module transport trolley is horizontally-spliced, owing to have a plurality of remote control equipment (RCE)s, does not conflict and use all module transpories trolley of single remote control equipment (RCE) Collaborative Control to realize turning to, go up and down and the problem of function such as driving so need to solve operating order.We are provided with 2 buttons on each remote control equipment (RCE), be respectively and car mode switch and principal and subordinate's select switch.And stopping switch is used for opening or closing and the car function; When also the car mode switch is " OFF "; The modular cart controller of modular cart control unit does not allow the modular cart control unit of current longitudinal spliced module transport trolley on the horizontally-spliced communication network of CANBUS3, to send data, when being that " ON " then allows.Principal and subordinate's switch is used for selecting the operating order of which remote control equipment (RCE) effective, and when principal and subordinate's switch was " OFF ", then current remote control equipment (RCE) can not instruct on the CANBUS3 through angle calculation controller (2038 controller) transmit operation, when for " ON ", then allows.The operating order of remote control equipment (RCE) passes to the angle calculation controller (2038 controller) on each file through CANBUS3; Pass to the modular cart controller RC6-9 on each module transport trolley by angle calculation controller (2038 controller) through CANBUS1 again, pass to the modular cart control unit on each file by modular cart controller RC6-9 through CANBUS2 again.Like this, be set to the turning to of main remote control equipment (RCE), up-down and driving operations instruction and will pass to simultaneously on each modular cart control unit, thereby realize the purpose of Collaborative Control.
For the purpose that realizes the self-propelled modular cart also can be walked flexibly in narrow and small place; We adopt the rotation of each steering shaft of electronically controlled proportional valve control; As feedback data each steering shaft is realized the angle closed loop control with angular transducer again, make it can forward required angle to, thereby realize full wheel multi-mode steering function; It turns to that pattern has that the Eight characters turns to, preceding commentaries on classics, back are changeed, oblique, 90 spend, turn-take, the horizontal and isotype that resets, as shown in Figure 3.
Angular transducer sends to angle-data on the CANBUS1 of each modular cart through built-in communication module, is obtained by the modular cart controller.Electronically controlled proportional valve is connected with the mouth of RCE expansion module controller, electronically controlled proportional valve modulated pressure motor rotary speed and drive the rotation of mechanical turbine and worm by HM Hydraulic Motor steering shaft is rotated.When carrying out multi-mode steering; The modular cart controller passes to the angle calculation controller with relevant information and calculates the angle that each steering shaft should change; Pass back again to the modular cart controller; The work of modular cart controller control RCE expansion module controller output control electronically controlled proportional valve, the modular cart controller makes steering shaft forward respective angles to according to the feedback data of angular transducer through the control electronically controlled proportional valve and realizes multi-mode steering.
It is high to realize that this technological hardware is formed reliability, because the mode that has adopted floating point operation and logic control to work alone makes that the total system response time is rapid, control system is stable at work, reliable.The communication network aspect of control system has taken into full account extendible demand, no matter modular cart vertically or is transversely being spliced expansion, existing control system and communication network can meet the demands.
It should be noted last that; The above specific embodiment is only unrestricted in order to technical scheme of the present invention to be described; Although with reference to preferred embodiment the present invention is specified, those of ordinary skill in the art should be appreciated that and can make amendment or be equal to replacement technical scheme of the present invention; And not breaking away from the spirit and the scope of technical scheme of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (7)
1. multi-vehicle multi-task cooperative control system; Comprise power control unit, module transport trolley and engine electronic control unit ECU, machinery is hard before and after the said module transport trolley connects, and said power control unit is connected with first module transport trolley; Said power control unit also is connected with engine electronic control unit ECU; It is characterized in that, also comprise the modular cart control unit
Said modular cart control unit is connected with the end effector of each module transport trolley; Said power control unit and modular cart control unit are through total wire joint; Said power control unit is responsible for the acquisition operations instruction, and the data of engine electronic control unit ECU output, and the operating order that collects is sent to the modular cart control unit; After the modular cart control unit receives operating order, control the end effector of each module transport trolley and carry out corresponding operating; The master controller of power control unit is gathered the relevant portion of control driving engine in engine electronic control unit ECU and the operating order; After treatment; The master controller of power control unit output associated control signal is to the engine control input end of engine electronic control unit ECU, thus the startup of control driving engine, stop working and throttle big or small.
2. a kind of multi-vehicle multi-task cooperative control system as claimed in claim 1; It is characterized in that; Said modular cart control unit comprises modular cart controller, angle calculation controller, expansion module controller and first toggle switch; The end effector of said expansion module controller link block transport trolley; Said first toggle switch is connected with the modular cart controller, is used for importing when the position of front module transport trolley in vertical formation, interconnects through first bus between the modular cart controller in the modular cart control unit, angle calculation controller and the expansion module controller;
Said power control unit and said modular cart control unit are through second total wire joint; Make through same second bus bonded assembly power control unit and each module transport trolley and form the longitudinal spliced network in front and back; The first toggle switch signal is imported through current modular cart controller, and informs the modular cart controller of other modular cart on single file through second bus by the modular cart controller;
Operational order is by said power control unit collection and be sent on second bus; Longitudinal spliced module transport vehicle is by the modular cart controller in the modular cart control module of himself installing; Obtain operational order and toggle switch signal from second bus; After treatment data are sent on first bus of self; When telling operational order and be the angle steering order, the angle calculation controller is gathered this data command output and control terminal executing agency carries out corresponding operating; When to tell operational order be non-angle steering order, the expansion module controller was gathered this data command output and control terminal executing agency carries out corresponding operating.
3. according to claim 1 or claim 2 a kind of multi-vehicle multi-task cooperative control system; It is characterized in that; Said power control unit comprises master controller, remote controller and communication module; Said remote controller is connected with communication module, interconnects through first bus between the master controller in the power control unit, communication module and the driving engine;
Operating order is through the remote controller input of said power control unit; By sending on first bus with remote controller bonded assembly communication module; The operating order that master controller is imported through the first bus collection; And be sent on second bus, longitudinal spliced module transport trolley obtains operating order through the modular cart control unit of himself installing from second bus, and the control terminal actuating unit is carried out corresponding operating.
4. a kind of multi-vehicle multi-task cooperative control system as claimed in claim 2; It is characterized in that; With power control unit on also comprise second toggle switch in the modular cart control unit of first module transport trolley of bonded assembly; Said second toggle switch is used for importing the position of current modular cart in horizontal formation, interconnects through first bus between the modular cart controller in the modular cart control unit, angle calculation controller, expansion module controller, first toggle switch and second toggle switch;
Also comprise the 3rd bus; Top before and after said the 3rd bus and each form through same second bus bonded assembly power control unit and each module transport trolley in the longitudinal spliced network; Promptly connect near the angle calculation controller in the modular cart control unit on the module transport trolley of power control unit; To realize being flexible coupling between each file transport trolley; The second toggle switch signal is imported through connected modular cart controller, passes to the angle calculation controller by the modular cart controller through first bus then, again by the control system communication of angle calculation controller through the 3rd bus and another file;
Said power control unit also comprises and car mode switch and principal and subordinate's select switch; When also the car mode switch is off-state; The modular cart controller of modular cart control unit does not allow the horizontally-spliced communication network of current longitudinal spliced modular cart bonded assembly on the 3rd bus to send data; When also the car mode switch is closure state, then allow the horizontally-spliced communication network of current longitudinal spliced modular cart bonded assembly on the 3rd bus to send data; When principal and subordinate's switch is off-state; The remote controller communication module can not instruct on the 3rd bus through the transmit operation of angle calculation controller; When principal and subordinate's switch is closure state, then allow the remote controller communication module to instruct on the 3rd bus through the transmit operation of angle calculation controller.
5. a kind of multi-vehicle multi-task cooperative control system as claimed in claim 3; It is characterized in that; With power control unit on also comprise second toggle switch in the modular cart control unit of first module transport trolley of bonded assembly; Said second toggle switch is used for importing the position of current modular cart in horizontal formation, interconnects through first bus between the modular cart controller in the modular cart control unit, angle calculation controller, expansion module controller, first toggle switch and second toggle switch;
Also comprise the 3rd bus; Top before and after said the 3rd bus and each form through same second bus bonded assembly power control unit and each module transport trolley in the longitudinal spliced network; Promptly connect near the angle calculation controller in the modular cart control unit on the module transport trolley of power control unit; To realize being flexible coupling between each file transport trolley; The second toggle switch signal is imported through connected modular cart controller, passes to the angle calculation controller by the modular cart controller through first bus then, again by the control system communication of angle calculation controller through the 3rd bus and another file;
Remote controller communication module in the said power control unit comprises and car mode switch and principal and subordinate's select switch; When also the car mode switch is off-state; The modular cart controller of modular cart control unit does not allow the horizontally-spliced communication network of current longitudinal spliced modular cart bonded assembly on the 3rd bus to send data; When also the car mode switch is closure state, then allow the horizontally-spliced communication network of current longitudinal spliced modular cart bonded assembly on the 3rd bus to send data; When principal and subordinate's switch is off-state; The remote controller communication module can not instruct on the 3rd bus through the transmit operation of angle calculation controller; When principal and subordinate's switch is closure state, then allow the remote controller communication module to instruct on the 3rd bus through the transmit operation of angle calculation controller.
6. a kind of multi-vehicle multi-task cooperative control system as claimed in claim 2; It is characterized in that; Also comprise electronically controlled proportional valve and angular transducer; Said electronically controlled proportional valve is connected with the mouth of said expansion module controller, and said angular transducer is connected with steering shaft, to obtain the actual angle of steering shaft.
7. a kind of multi-vehicle multi-task cooperative control system as claimed in claim 4; It is characterized in that also comprising electronically controlled proportional valve and angular transducer; Said electronically controlled proportional valve is connected with the mouth of said expansion module controller; Said angular transducer is connected with steering shaft, to obtain the actual angle of steering shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910311991A CN101716930B (en) | 2009-12-22 | 2009-12-22 | Multi-vehicle multi-task cooperative control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910311991A CN101716930B (en) | 2009-12-22 | 2009-12-22 | Multi-vehicle multi-task cooperative control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101716930A CN101716930A (en) | 2010-06-02 |
| CN101716930B true CN101716930B (en) | 2012-09-26 |
Family
ID=42431593
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910311991A Active CN101716930B (en) | 2009-12-22 | 2009-12-22 | Multi-vehicle multi-task cooperative control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101716930B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9254839B2 (en) * | 2012-02-24 | 2016-02-09 | Aisin Aw Co., Ltd. | Control device |
| CN102637028B (en) * | 2012-04-25 | 2013-10-09 | 山东省计算中心 | Collaboration method of collaboration programmable controller |
| CN104007693B (en) * | 2014-05-08 | 2016-08-24 | 北京特种机械研究所 | A kind of air cushion suspended transport vehicle many cars Collaborative Control device |
| CN104691398A (en) * | 2015-03-18 | 2015-06-10 | 上海振华重工(集团)股份有限公司 | Method for land transfer of oversized gate |
| CN105320135B (en) * | 2015-11-05 | 2018-10-02 | 北京特种机械研究所 | A kind of more vehicles collaboration wireless remote controllers of air cushion suspended transport vehicle |
| US9921582B2 (en) * | 2016-04-20 | 2018-03-20 | GM Global Technology Operations LLC | Reconfigurable automated guided vehicle system |
| CN105869379B (en) * | 2016-06-20 | 2020-02-14 | 南京百邻悦科技服务有限公司 | Group control device and method |
| SE541348C2 (en) * | 2016-12-21 | 2019-07-23 | Scania Cv Ab | Method, control arrangement and system for triggering activation of vehicles |
| CN107792172B (en) * | 2017-10-30 | 2019-09-24 | 湖北三江航天万山特种车辆有限公司 | A kind of control system and control method turned to for control module flat car |
| CN109537914B (en) * | 2018-11-30 | 2021-03-26 | 上海宝冶集团有限公司 | Synchronous operation control method for multi-group self-propelled module transport vehicle |
| CN109353409B (en) * | 2018-12-06 | 2023-06-23 | 吉林大学 | Steering system based on commercial vehicle formation driving |
| CN112717308B (en) * | 2021-02-05 | 2021-09-28 | 燕山大学 | Single-master multi-slave fire-fighting robot multi-mode fire extinguishing method |
| CN114633801B (en) * | 2022-04-22 | 2023-07-21 | 武汉科技大学 | Automatic deviation correcting system and method for walking of beam transporting vehicle tunnel |
| CN115009356B (en) * | 2022-05-26 | 2024-04-09 | 泰安航天特种车有限公司 | Multi-axis electric control steering hydraulic system and flow matching control method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1417980A (en) * | 2002-11-07 | 2003-05-14 | 吕京建 | Intelligent gateway device for vehicle controller LAN |
| CN1555991A (en) * | 2003-12-31 | 2004-12-22 | 上汽集团奇瑞汽车有限公司 | Mixed power car control system |
| CN2911753Y (en) * | 2006-01-20 | 2007-06-13 | 华南理工大学 | Distributed control systme for multi-energy driving assembly of hybrid driving electric autocar |
| CN101059765A (en) * | 2006-01-09 | 2007-10-24 | 中山大学 | Digital family network multiple-task synchronous prosecution device and its method |
-
2009
- 2009-12-22 CN CN200910311991A patent/CN101716930B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1417980A (en) * | 2002-11-07 | 2003-05-14 | 吕京建 | Intelligent gateway device for vehicle controller LAN |
| CN1555991A (en) * | 2003-12-31 | 2004-12-22 | 上汽集团奇瑞汽车有限公司 | Mixed power car control system |
| CN101059765A (en) * | 2006-01-09 | 2007-10-24 | 中山大学 | Digital family network multiple-task synchronous prosecution device and its method |
| CN2911753Y (en) * | 2006-01-20 | 2007-06-13 | 华南理工大学 | Distributed control systme for multi-energy driving assembly of hybrid driving electric autocar |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101716930A (en) | 2010-06-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101716930B (en) | Multi-vehicle multi-task cooperative control system | |
| CN102275611B (en) | Distributed automobile line control steering system and control method | |
| US7624831B2 (en) | Method and apparatus for moving in formation the modular components of a drilling rig from well to well | |
| US11351983B2 (en) | Power control system with transmission transient boost function | |
| CN108569228A (en) | The unmanned chassis system of vehicle based on CAN bus | |
| CN102826118A (en) | Front wheel steering hydraulic system for land scraper with composite operation and land scraper | |
| US7286928B2 (en) | Wireless communications system for work machine components | |
| CN208682909U (en) | A kind of multi-mode steer by wire apparatus | |
| CN108382457B (en) | Automatic steering transformation method and control method for tractor | |
| CN203084541U (en) | Intelligent control device and intelligent control system of hydraulic mechanical arm | |
| US6947819B2 (en) | Swivel joint for a work machine | |
| CN113006185A (en) | Automatic navigation operation method and system for excavator | |
| CN109178123B (en) | Tunnel obstacle clearance robot | |
| CN209321091U (en) | A kind of tunnel obstacle removing robot | |
| CN103885399B (en) | Smooth brake control system of multiple constant-tension anchor gears for pipe-laying ship | |
| CN109562753A (en) | The braking method of Work machine and Work machine | |
| EP1456073B1 (en) | Decentralized system for entirely automatic execution of transport services | |
| KR102290014B1 (en) | Method, system and computer program for controlling propulsion of a drilling rig as well as a drilling rig | |
| JP3682165B2 (en) | Hydraulic drive | |
| CN207092166U (en) | A kind of hydraulic crawler excavator logical valve | |
| CN107630484A (en) | A kind of hydraulic crawler excavator logical valve | |
| CN110588811B (en) | Capstan linear speed control for track type machine with electric drive power train | |
| CN109073075A (en) | Working truck | |
| CN203783738U (en) | Modular remote-control-function-integrated diesel engine local operation device | |
| CN111142376B (en) | Channel switching system and control method based on state observation composite feedback control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP02 | Change in the address of a patent holder |
Address after: 432000 Beijing Road, Hubei, China, No. 69, No. Patentee after: Hubei Sanjiang Hangtian Wanshan Specialty Vehicles Co., Ltd. Address before: 430023 No. 45, Changqing Road, Jianghan District, Hubei, Wuhan Patentee before: Hubei Sanjiang Hangtian Wanshan Specialty Vehicles Co., Ltd. |