Shuttle vehicle speed control method and apparatus, and shuttle vehicle
View Patent ↗The present disclosure provides a method and an apparatus for controlling speed of a shuttle vehicle, and a shuttle vehicle, and relates to the field of control. The method includes: controlling the shuttle vehicle to perform an accelerated motion from a starting point of a specified displacement at a initial speed, wherein the accelerated motion comprises a first accelerated motion with the acceleration increasing with time is performed at first, and a second accelerated motion with the acceleration decreasing with time is performed; controlling the shuttle vehicle to perform an uniform motion; and controlling the shuttle vehicle to perform a decelerated motion, wherein the decelerated motion comprises a first decelerated motion with the acceleration decreasing with time is performed at first, and a second decelerated motion with the acceleration increasing with time is performed, and the shuttle vehicle arrives at a destination of the specified displacement at an end speed.
1. A method for controlling speed of a shuttle vehicle, comprising:
controlling the shuttle vehicle to perform an accelerated motion from a starting point of a specified displacement at an initial speed V s , wherein the accelerated motion comprises a first accelerated motion with the acceleration increasing with time is performed at first, and a second accelerated motion with the acceleration decreasing with time is performed;
controlling the shuttle vehicle to perform a uniform motion; and
controlling the shuttle vehicle to perform a decelerated motion, wherein the decelerated motion comprises a first decelerated motion with the acceleration decreasing with time is performed at first, and a second decelerated motion with the acceleration increasing with time is performed, and the shuttle vehicle arrives at a destination of the specified displacement at an end speed V e .
2. The method according to claim 1 , wherein,
a time during which the shuttle vehicle performs the first accelerated motion and a time during which the shuttle vehicle performs the second accelerated motion are a time T 1 ; and
a time during which the shuttle vehicle performs the first decelerated motion and a time during which the shuttle vehicle performs the second decelerated motion are a time T 2 .
3. The method according to claim 2 , wherein,
a square difference between the time T 1 and the time T 2 is direct proportional to a difference value between the end speed V e and the initial speed V s of the shuttle vehicle.
4. The method according to claim 1 , wherein,
the specified displacement is greater than a predetermined threshold, wherein the predetermined threshold is determined by the initial speed V s and the end speed V e .
5. The method according to claim 4 , wherein,
the predetermined threshold is determined by a sum of the end speed V e and the initial speed V s , and a difference between the end speed V e and the initial speed V s .
6. The method according to claim 5 , wherein,
the maximum value of the time T 2 is
V
max
-
V
c
J
,
wherein V max represents the maximum speed of the shuttle vehicle, and J represents an acceleration parameter; and
in the case that the shuttle vehicle only performs the accelerated motion and the decelerated motion when passing by the specified displacement, a time during which the shuttle vehicle performs the uniform motion is 0, and the time T 2 and the time T 1 are determined by performing Bisection method on a displacement function of the shuttle vehicle.
7. The method according to claim 6 , wherein,
in the case that the end speed V e is not less than the initial speed V s , the minimum value of the time T 2 is 0; and
in the case that the end speed V e is less than the initial speed V s , the minimum value of the time T 2 is
V
s
-
V
e
J
.
8. The method according to claim 6 , further comprising:
determining a first displacement of the shuttle vehicle to perform the accelerated motion by using the time T 1 and the initial speed Vs;
determining a second displacement of the shuttle vehicle to perform the decelerated motion by using the time T 2 and the end speed V e ; and
using a difference value obtained by subtracting the first displacement and the second displacement from the specified displacement as a third displacement of the shuttle vehicle to perform the uniform motion.
9. The method according to claim 8 , further comprising:
determining a time T 3 during which the shuttle vehicle performs the uniform motion by using the third displacement, the time T 1 and the initial speed V s .
10. The method according to claim 9 , further comprising:
determining a running speed of the shuttle vehicle at each moment by using the initial speed V s , the acceleration parameter J, the time T 1 , the time T 2 , and the time T 3 .
11. An apparatus for controlling speed of a shuttle vehicle, comprising:
a memory, configured to store instructions; and
a processor, coupled to the memory, and based on the instructions stored in the memory, the processor is configured to:
control the shuttle vehicle to perform an accelerated motion from a starting point of a specified displacement at an initial speed V s , wherein the accelerated motion comprises a first accelerated motion with the acceleration increasing with time is performed at first, and a second accelerated motion with the acceleration decreasing with time is performed;
control the shuttle vehicle to perform a uniform motion; and
control the shuttle vehicle to perform a decelerated motion, wherein the decelerated motion comprises a first decelerated motion with the acceleration decreasing with time is performed at first, and a second decelerated motion with the acceleration increasing with time is performed, and the shuttle vehicle arrives at a destination of the specified displacement at an end speed V e .
12. The apparatus according to claim 11 , wherein,
a time during which the shuttle vehicle performs the first accelerated motion and a time during which the shuttle vehicle performs the second accelerated motion are a time T 1 ; and
a time during which the shuttle vehicle performs the first decelerated motion and a time during which the shuttle vehicle performs the second decelerated motion are a time T 2 .
13. The apparatus according to claim 12 , wherein,
a square difference between the time T 1 and the time T 2 is direct proportional to a difference value between the end speed V e and the initial speed V s of the shuttle vehicle.
14. The apparatus according to claim 11 , wherein,
the specified displacement is greater than a predetermined threshold, wherein the predetermined threshold is determined by the initial speed V s and the end speed V e .
15. The apparatus according to claim 14 , wherein,
the predetermined threshold is determined by a sum of the end speed V e and the initial speed V s , and a difference between the end speed V e and the initial speed V s .
16. The apparatus according to claim 15 , wherein,
the maximum value of the time T 2 is
V
max
-
V
e
J
,
wherein V max represents the maximum speed of the shuttle vehicle, and J represents an acceleration parameter; and
in the case that the shuttle vehicle only performs the accelerated motion and the decelerated motion when passing by the specified displacement, a time during which the shuttle vehicle performs the uniform motion is 0, and the time T 2 and the time T 1 are determined by performing Bisection method on a displacement function of the shuttle vehicle.
17. The apparatus according to claim 16 , wherein,
in the case that the end speed V e is not less than the initial speed V s , the minimum value of the time T 2 is 0; and
in the case that the end speed V e is less than the initial speed V s , the minimum value of the time T 2 is
V
s
-
V
e
J
.
18. The apparatus according to claim 16 , the processor is further configured to:
determine a first displacement of the shuttle vehicle to perform the accelerated motion by using the time T 1 and the initial speed V s ;
determine a second displacement of the shuttle vehicle to perform the decelerated motion by using the time T 2 and the end speed V e ; and
use a difference value obtained by subtracting the first displacement and the second displacement from the specified displacement as a third displacement of the shuttle vehicle to perform the uniform motion.
19. A shuttle vehicle, comprising:
an apparatus for controlling speed, comprising:
a memory, configured to store instructions; and
a processor, coupled to the memory, and based on the instructions stored in the memory, the processor is configured to:
control the shuttle vehicle to perform an accelerated motion from a starting point of a specified displacement at an initial speed Vs, wherein the accelerated motion comprises a first accelerated motion with the acceleration increasing with time is performed at first, and a second accelerated motion with the acceleration decreasing with time is performed;
control the shuttle vehicle to perform a uniform motion; and
control the shuttle vehicle to perform a decelerated motion, wherein the decelerated motion comprises a first decelerated motion with the acceleration decreasing with time is performed at first, and a second decelerated motion with the acceleration increasing with time is performed, and the shuttle vehicle arrives at a destination of the specified displacement at an end speed Ve.