CN-121978889-A - Tracked vehicle PID control driving method, tracked vehicle and medium

CN121978889ACN 121978889 ACN121978889 ACN 121978889ACN-121978889-A

Abstract

The invention discloses a PID control driving method for a tracked vehicle, the tracked vehicle and a medium, and relates to the technical field of tracked vehicle motion control. The method comprises the steps of responding to output limitation of the tracked vehicle, performing integral freezing on a PID controller, calculating integral frozen integral output through a current integral value, after integral freezing, if the integral output of the PID controller does not meet an integral management constraint domain and lasts for a preset time, retracting the integral value of the PID controller until the integral value is matched with an reachable target speed, calculating integral retracted integral output, if the integral output of the PID controller meets the integral management constraint domain, recovering integral value accumulation by the PID controller, calculating integral recovered integral output based on the accumulated integral value, and driving the tracked vehicle to move based on the integral output of the PID controller. The invention can prevent the integral value of the PID controller from continuously accumulating under the limited state and improve the stability and controllability of the system under the complex working condition.

Inventors

XU XIYI
PAN TAO
XU YUXI
XU CHANGCHANG

Assignees

江苏睿控电气科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260202

Claims (10)

1. A method of PID control driving of a tracked vehicle, comprising: constructing an integral management constraint domain based on the acquired electrical parameters and transmission parameters of the tracked vehicle; Judging whether the output limitation of the tracked vehicle occurs or not based on the integral management constraint domain and the output quantity of the initial PID controller; In response to the tracked vehicle output being limited, performing the following PID controller output adjustment operations: integral freezing is carried out on the PID controller, and the output quantity of the PID controller during integral freezing is calculated through the current integral value; After integral freezing is carried out on the PID controller, when the output quantity of the PID controller does not meet an integral management constraint domain and lasts for a preset time, the integral value of the PID controller is retracted until the integral value is matched with the reachable target speed, and the output quantity of the PID controller in integral retraction is obtained through calculation; After integral freezing is carried out on the PID controller, when the output quantity of the PID controller meets an integral management constraint domain, the PID controller recovers integral value accumulation, and the integral recovery output quantity of the PID controller is obtained based on integral value calculation after accumulation; the tracked vehicle is driven to move based on the output quantity of the PID controller.
2. The tracked vehicle PID control driving method according to claim 1, wherein constructing an integral management constraint field based on the acquired electrical parameters and transmission parameters of the tracked vehicle comprises: calculating an available power threshold of the power system based on the electrical parameters of the tracked vehicle; calculating an achievable target speed of the tracked vehicle based on the available power threshold and a transmission parameter of the tracked vehicle; an integral management constraint domain is constructed based on the available power threshold of the powertrain, the achievable target speed of the tracked vehicle, and the electrical parameters of the tracked vehicle.
3. The method of PID control drive for a tracked vehicle of claim 2, wherein the electrical parameters of the tracked vehicle include an engine output power threshold, a single-sided bus side electrical capability threshold, and a work load power threshold; the power system comprises a power system, a power system and a power system, wherein the power system comprises an available power threshold for driving at two sides and an available power threshold for driving at the outer side of the steering, and the available power threshold for driving at two sides and the available power threshold for driving at the outer side of the steering are respectively calculated based on the engine output power threshold, the single-side bus side electrical capacity threshold and the work load power threshold and a preset safe power threshold.
4. A tracked vehicle PID control driving method according to claim 3, characterized in that the preset safety power threshold is 20KW.
5. The method of claim 2, wherein constructing the integral management constraint domain further comprises obtaining a preset upper engine speed tolerance of 200rpm/min.
6. The method according to claim 1, wherein the integral freezing of the PID controller includes stopping accumulation of integral terms of the PID controller and maintaining a current integral value, and the PID controller output is calculated from the current integral value.
7. The method according to claim 1, wherein retracting the integral value of the PID controller includes retracting the integral term of the PID controller linearly the integral value by a preset integral retraction slope until the integral value matches the achievable target speed.
8. The method according to claim 1, wherein the step of accumulating the integration values recovered by the PID controller includes accumulating the integration values by a preset integration recovery slope of an integral term of the PID controller.
9. A tracked vehicle, characterized in that motion control is performed using the tracked vehicle PID control driving method according to any one of claims 1 to 8, comprising: the integral management constraint domain calculation module is used for constructing an integral management constraint domain according to the acquired electrical parameters and transmission parameters of the tracked vehicle; the PID controller output quantity feedback module is used for collecting the output quantity of the PID controller and judging whether the output limitation of the tracked vehicle occurs or not; and the constraint perception integral management control module is used for carrying out output quantity adjustment operation of the PID controller.
10. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the tracked vehicle PID control driving method according to any one of claims 1 to 8.

Description

Tracked vehicle PID control driving method, tracked vehicle and medium Technical Field The invention relates to the field of tracked vehicle motion control, in particular to a tracked vehicle PID control driving method, a tracked vehicle and a medium. Background In the fields of industrial control, vehicle control and engineering machinery control, PID controllers are widely used for speed, torque and power control due to their simple structure and strong robustness. The integral term of the PID controller is used to eliminate steady state error, but provided that the controller output can be performed by the system. When the control output is limited by actuator capacity, energy system or safety strategy, continued accumulation of integral terms will result in a serious mismatch of the integral value with the actual capacity of the system. In the scenes of engineering machinery, electric drive vehicles and the like, the actuator is limited and is not abnormal accidentally, but in a long-term running state, for example, the power is insufficient due to the type of an engine or the type of a power supply, the maximum driving or regenerating braking capacity of a motor is limited, the energy recovery device or the braking resistance is limited in power, in the prior art, when the output is limited, an integral term is continuously accumulated, so that the integral value is far greater than the executable range of a system, if the integral is cleared to break the continuity of the internal state of the controller, the output suddenly drops, in the prior art, the reverse integral method relies on the error direction or model parameters, oscillation is easily introduced under load mutation and nonlinear working conditions, and if the limitation is not processed, the oversized integral term is released instantaneously, so that the control impact is caused, and therefore, the prior art cannot compromise the control stability and the response smoothness under the long-term limited working condition. Disclosure of Invention The invention aims to provide a PID control driving method for a tracked vehicle, the tracked vehicle and a medium, which are used for carrying out staged management on integral items through constraint state sensing so as to improve the stability and controllability of a system under complex working conditions. In order to achieve the above purpose, the invention is realized by adopting the following technical scheme. In a first aspect, the present invention provides a method for PID control driving of a tracked vehicle, comprising: constructing an integral management constraint domain based on the acquired electrical parameters and transmission parameters of the tracked vehicle; Judging whether the output limitation of the tracked vehicle occurs or not based on the integral management constraint domain and the output quantity of the initial PID controller; In response to the tracked vehicle output being limited, performing the following PID controller output adjustment operations: integral freezing is carried out on the PID controller, and the output quantity of the PID controller during integral freezing is calculated through the current integral value; After integral freezing is carried out on the PID controller, when the output quantity of the PID controller does not meet an integral management constraint domain and lasts for a preset time, the integral value of the PID controller is retracted until the integral value is matched with the reachable target speed, and the output quantity of the PID controller in integral retraction is obtained through calculation; After integral freezing is carried out on the PID controller, when the output quantity of the PID controller meets an integral management constraint domain, the PID controller recovers integral value accumulation, and the integral recovery output quantity of the PID controller is obtained based on integral value calculation after accumulation; the tracked vehicle is driven to move based on the output quantity of the PID controller. Optionally, constructing the integral management constraint domain based on the acquired electrical parameters and transmission parameters of the tracked vehicle includes: calculating an available power threshold of the power system based on the electrical parameters of the tracked vehicle; calculating an achievable target speed of the tracked vehicle based on the available power threshold and a transmission parameter of the tracked vehicle; an integral management constraint domain is constructed based on the available power threshold of the powertrain, the achievable target speed of the tracked vehicle, and the electrical parameters of the tracked vehicle. By constructing an integral management constraint domain, accurate judgment of the output quantity limited state of the PID controller is ensured, and the response speed of integral freezing when the output is limited is improved. Optionally, the electri