CN102653246B - Four-wheel driven high-ground gap mobile car and control method thereof - Google Patents
Four-wheel driven high-ground gap mobile car and control method thereof Download PDFInfo
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- CN102653246B CN102653246B CN201210113160.8A CN201210113160A CN102653246B CN 102653246 B CN102653246 B CN 102653246B CN 201210113160 A CN201210113160 A CN 201210113160A CN 102653246 B CN102653246 B CN 102653246B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a four-wheel driven high-ground gap mobile car and a control method thereof. The four-wheel driven high-ground gap mobile car comprises a frame, wheels, brake mechanisms and a main controller; a steering gear for controlling the wheel to turn in direction is arranged on each wheel; the steering gear on the left front wheel and the steering gear on the left rear wheel are connected to a left steering motor through a linkage mechanism, and the steering gear on the right front wheel and the steering gear on the right rear wheel are connected to a right steering motor through a linkage mechanism; the brake mechanisms are fixedly arranged on at least two wheels; and the main controller is connected to each hub type motor, the left steering motor, the right steering motor and the brake mechanism, respectively. The control method comprises the following steps of: independently controlling the rotating speed of each wheel by the motor; and when the car turns in direction, adjusting the turn angle of the left steering motor which simultaneously controls the left front wheel and the left rear wheel and the turn angle of the right steering motor which simultaneously controls the right front wheel and the right rear wheel according to a turn angle signal. The four-wheel driven high-ground gap mobile car is simple in implementation, high in control accuracy and small in turning radius.
Description
Technical field
The present invention relates to moving vehicle field of research, particularly a kind of four wheel drive high-clearance travelling car and control method thereof.
Background technology
Current most dolly is all to adopt Ackermann steering mode, and this steering mode turn radius is larger, while travelling, will repeatedly back and forth adjust pose in narrow space.Two-wheeled differential steering mode can realize minor radius and turn to flexibly, but the resistance that while turning to, follower produces is larger, and requiring that power is exported is high.For reducing turn radius, do not increase cornering resistance simultaneously, at present the existing steering swivel system that adopts machinery or electric machine control four-wheel synchronously to turn to.But mechanical type four wheel drive travelling car is limited by transmission device, and turn radius setting range is limited, four-wheel interlock precision is not high.Adopt the Four wheel independent steering system turn radius setting range of electric machine control large, but will make four motor linkages simultaneously, control system is huge, and system manufacturing cost is high.Meanwhile, the chassis of most of travelling car is lower, passes through poor performance.
Therefore, need to provide that a kind of control accuracy is high, turn radius is little and the travelling car of high-clearance and control method.
Summary of the invention
Main purpose of the present invention is that the shortcoming that overcomes prior art is with not enough, a kind of four wheel drive high-clearance travelling car is provided, this device is when the existing four-wheel of reservation synchronously turns to the advantage that dolly alerting ability is strong, reduced the complexity of dolly as far as possible, reduce manufacturing cost, improved passability.The present invention also provides a kind of control method based on above-mentioned four wheel drive high-clearance travelling car.This control method realizes simply, control accuracy is high.
Object of the present invention realizes by following technical scheme: a kind of four wheel drive high-clearance travelling car, comprise vehicle frame, wheel, braking mechanism, master controller and battery, wheel is arranged on bottom of frame, wheel comprises the near front wheel, left rear wheel, off front wheel, off hind wheel, on each wheel, be equipped with one for controlling the steering hardware of wheel steering, each wheel is by hub type motor individual drive; Steering hardware on described the near front wheel is connected with left side steer motor by link gear with the steering hardware on left rear wheel, composition left side steering hardware together, steering hardware on off front wheel is connected with right hand steering motor by link gear with the steering hardware on off hind wheel, forms together right hand steering mechanism; Left side steering hardware, right hand steering mechanism are all arranged on vehicle frame; Braking mechanism is fixedly installed at least two wheel places; Master controller is connected with each hub type motor, left side steer motor, right hand steering motor and braking mechanism respectively, and described battery is arranged on vehicle frame, for powering to device.
Preferably, the steering hardware at described each wheel place is made up of steering shaft and wheel stand, wheel is arranged on wheel stand below, wheel stand is fixedly connected with steering shaft, steering shaft is perpendicular to ground and point to wheel center, steering shaft is connected with link gear, and steering shaft one side is provided with rotation direction sensor.
Preferably, described link gear comprises universal-joint, transmission shaft, the first retarder, the first retarder is arranged on each steering hardware, be connected with the steering shaft in steering hardware, transmission shaft one end is connected with retarder by universal-joint, the other end is connected with the second retarder by universal-joint, and the second retarder is connected with steer motor.
Further, described left side steer motor is arranged on the near front wheel or left rear wheel, right hand steering motor is arranged on off front wheel or off hind wheel, on the residing wheel of motor, the second retarder is directly connected with the first retarder on this wheel, for another wheel, the second retarder is connected with transmission shaft one end by universal-joint, and the transmission shaft other end is connected with the first retarder on this wheel by universal-joint.
Preferably, described link gear comprises conic reducer, transmission shaft and the second retarder, conic reducer is arranged on each steering hardware, be connected with the steering shaft in steering hardware, in the steering hardware of each side, former and later two conic reducers are connected by transmission shaft, transmission shaft is connected with the second retarder, and the second retarder is connected with steer motor.
Preferably, described the first retarder adopts worm type of reduction gearing, and the second retarder adopts toothed belt transmission pair.
Preferably, described braking mechanism comprises brake pump, lower brake pump, disk brake, brake motor and for keeping the spring device of pressure when the brake, spring device one end is connected with brake motor, the other end is connected with upper brake pump, and upper brake pump is connected with lower brake pump by hydraulic pipe, and brake motor, spring device, upper brake pump are all fixed on vehicle frame, lower brake pump is fixed on wheel stand, disk brake is fixed on wheel, and when work, lower brake pump clamps disk brake.Brake motor drives spring device, to upper brake pump output constant thrust, makes the lower brake pump being connected by hydraulic pipe with upper brake pump clamp disk brake with constant pressure, reduces wheel velocity.Instantly, when pump clamps disk brake, spring device still can continue move and keep pressure, prevents motor rotation blockage.Adopt spring device, can be in the time that lower pump clamp disk brake, spring device still can continue move and keep pressure, prevents motor rotation blockage.In addition, the electric pushrod in described brake motor has latching characteristics.Thereby can in the time of motor power-off, still can keep constant pressure.
Further, a braking mechanism of each configuration on described left rear wheel and off hind wheel.
Preferably, steer motor actuator, hub type motor driver and brake motor actuator that described master controller is connected respectively by main control chip and with main control chip form, described steer motor actuator is connected with right hand steering motor with left side steer motor respectively, and steer motor actuator is also connected with the rotation direction sensor that is arranged on wheel place respectively simultaneously; Described hub type motor driver is connected with each hub type motor respectively, and described brake motor actuator is connected with each brake motor.Master controller is used for receiving that outside turns to and speed signal, converses corner and the rotating speed of each wheel, makes it to keep coordinating.Master controller, according to external speed signal, is controlled the power output of braking mechanism, dolly is slowed down or realize parking.
Preferably, described battery is on-vehicle battery, totally 4, be evenly arranged on vehicle frame, and be respectively each motor and power.
Preferably, described vehicle frame is " Π " type, and middle part is opened wide.Adopt this structure, vehicle frame middle part is distant with ground, possesses higher crossing ability.
A kind of control method based on above-mentioned four wheel drive high-clearance travelling car, the rotating speed of each wheel is independently controlled by hub type motor respectively, Ackermann steer angle, controls the left side steer motor that the near front wheel and left rear wheel turn to simultaneously and controls off front wheel and right hand steering motor that off hind wheel turns to regulates corner according to angular signal simultaneously.
Concrete, comprise the following steps:
(1) master controller reception outside turns to and speed signal, converses angular signal and the tach signal of each wheel;
(2) tach signal sends to each hub type motor through hub type motor driver and carries out rotating speed control;
(3) angular signal sends to respectively left side steer motor and right hand steering motor through steer motor actuator, left side steer motor and right hand steering driven by motor left side steering hardware and right hand steering mechanism controls left side wheel and right side wheels interlock, in the time that the wheel axis of the near front wheel and the wheel axis of off front wheel, the wheel axis of left rear wheel and the wheel axis of off hind wheel all overlap, realize the craspedodrome of vehicle; In the time that the wheel axis of the near front wheel, off front wheel, left rear wheel and off hind wheel intersects at a point, realize the arbitrarily angled of vehicle and turn to; In the time that the wheel axis of the near front wheel, off front wheel, left rear wheel and off hind wheel all points to car body center, realize the original place rotation of vehicle; In the time that the wheel axis of the near front wheel and the wheel axis of off front wheel, the wheel axis of left rear wheel and the wheel axis of off hind wheel are all parallel, realize the transverse translation of vehicle; Otherwise, realize braking and the parking of vehicle.Above-mentioned wheel axis specifically refers to the direction that rotation shaft of wheel is pointed to.
Further, the rotation direction sensor that described wheel place arranges gathers the current angular signal of wheel in real time, and the signal of collection is used for realizing closed loop control.
Compared with prior art, tool has the following advantages and beneficial effect in the present invention:
1, the present invention synchronously turns to travelling car than the four-wheel of four electric machine control, and the present invention adopts mechanical drive to realize the interlock of homonymy wheel, has reduced the quantity of steer motor, has reduced the requirement of control system, has reduced manufacturing cost.
2, in the present invention, adopt that four hub type motors are independent respectively controls four-wheels, then in conjunction with steer motor, have turn radius little, can translation and the feature of rotation, ensured the alerting ability of vehicle mobile.
3, in the present invention, vehicle frame is larger to the distance on ground, makes it have the higher performance of passing through, and has greatly expanded field of application.
4, in the present invention, adopt the separately-driven mode of four-wheel, make dolly on rugged road surface, still can keep stable power output.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention 1;
Fig. 2 is the control system structure principle chart of the embodiment of the present invention 1;
Fig. 3 is the steering hardware control principle drawing of the embodiment of the present invention 1;
Fig. 4 is the steering hardware structural representation at left rear wheel or off front wheel place in the embodiment of the present invention 1;
Fig. 5 is the structural representation of braking mechanism in the embodiment of the present invention 1;
Fig. 6 is the steering hardware control principle drawing of the embodiment of the present invention 2.
Wherein in Fig. 1-6: 1-vehicle frame; 21-the near front wheel; 22-left rear wheel; 23-off front wheel; 24-off hind wheel; 3-braking mechanism; 32-brake motor; 33-spring device; The upper brake pump of 34-; Brake pump under 35-; 36-disk brake; 4-master controller; 5-battery; 6-steer motor; 61-left side steer motor; 62-right hand steering motor; 71-transmission shaft; 72-universal-joint; 73-the first retarder; 74-conic reducer; 8-the second retarder; 9-rotation direction sensor; 10-steering shaft; 11-wheel stand.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment 1
As depicted in figs. 1 and 2, a kind of four wheel drive high-clearance travelling car, comprise vehicle frame 1, wheel, braking mechanism 3, master controller 4 and battery 5, wheel is arranged on vehicle frame 1 bottom, wheel comprises the near front wheel 21, left rear wheel 22, off front wheel 23, off hind wheel 24, on each wheel, be equipped with one for controlling the steering hardware of wheel steering, each wheel is by hub type motor individual drive.Steering hardware on described the near front wheel 21 is connected with left side steer motor 61 by link gear with the steering hardware on left rear wheel 22, composition left side steering hardware together, steering hardware on off front wheel 23 is connected with right hand steering motor 62 by link gear with the steering hardware on off hind wheel 24, forms together right hand steering mechanism.Left side steering hardware, right hand steering mechanism are all arranged on vehicle frame 1.Braking mechanism 3 is fixedly installed on left rear wheel 22 and off hind wheel 24 places; Master controller 4 is connected with each hub type motor, left side steer motor 61, right hand steering motor 62 and braking mechanism 3 respectively, and described battery 5 is arranged on vehicle frame 1, for powering to device.
In the present embodiment, the structure of described left side steering hardware and right hand steering mechanism as shown in Figure 3,4, left side steer motor 61 is arranged on left rear wheel 22, right hand steering motor 62 is arranged on off front wheel 23, taking left side steering hardware as example, on the residing left rear wheel 22 of left side steer motor 61, the second retarder 8 is directly connected with the first retarder 73 on this wheel, for the near front wheel 21, the second retarder 8 is connected with transmission shaft 71 one end by universal-joint 72, and transmission shaft 71 other ends are connected with the first retarder 73 on the near front wheel 21 by universal-joint 72.The apparatus structure at described left rear wheel 22 and off front wheel 23 places as shown in Figure 4, steering hardware is made up of steering shaft 10 and wheel stand 11, wheel is arranged on wheel stand 11 belows, wheel stand 11 is fixedly connected with steering shaft 10, steering shaft 10 is perpendicular to ground and point to wheel center, steering shaft 10 is connected with the first retarder 73, and steering shaft 10 1 sides are provided with rotation direction sensor 9.In the present embodiment, the first retarder 73 adopts worm type of reduction gearing, and the second retarder 8 adopts toothed belt transmission pair.In actual applications, also steer motor 6 can be arranged on to vehicle frame 1 middle part, taking left side steering hardware as example, left side steer motor 61 is all identical to the link gear of the near front wheel 21 and left rear wheel 22, link gear all, if steer motor in the present embodiment is to the mechanism of the near front wheel 21, comprises universal-joint 72, transmission shaft 71, the first retarder 73.
In the present embodiment, on left rear wheel 22 and off hind wheel 24, respectively configure a braking mechanism 3, braking mechanism 3 adopts structure as shown in Figure 5, specifically comprise brake pump 34, lower brake pump 35, disk brake 36, brake motor 32 and spring device 33, spring device 33 one end are connected with the electric pushrod in brake motor 32, the other end is connected with upper brake pump 34, upper brake pump 34 is connected with lower brake pump 35 by hydraulic pipe, brake motor 32, spring device 33, upper brake pump 34 is all fixed on vehicle frame 1, lower brake pump 35 is fixed on wheel stand 11, disk brake 36 is fixed on wheel, when work, lower brake pump 35 clamps disk brake 36.Electric pushrod in the present embodiment drives spring device 33, and upper brake pump 34 is exported to constant thrust, makes the lower brake pump 35 being connected by hydraulic pipe with upper brake pump 34 clamp disk brake 36 with constant pressure, reduces wheel velocity.Instantly, when pump clamps disk brake 36, spring device 33 still can continue move and keep pressure, prevents motor rotation blockage.
Steer motor actuator, hub type motor driver and brake motor actuator that in the present embodiment, master controller 4 is connected respectively by main control chip and with main control chip form, described steer motor actuator is connected with right hand steering motor 62 with left side steer motor 61 respectively, and steer motor actuator is also connected with the rotation direction sensor 9 that is arranged on wheel place respectively simultaneously; Described hub type motor driver is connected with each hub type motor respectively, and described brake motor actuator is connected with each brake motor 32.Master controller 4 turns to and speed signal for receiving outside, converses corner and the rotating speed of each wheel, makes it to keep coordinating.Master controller 4, according to external speed signal, is controlled the power output of braking mechanism, dolly is slowed down or realize parking.
As shown in Figure 1, the battery 5 in the present embodiment is on-vehicle battery, and totally 4, be evenly arranged on vehicle frame 1, be respectively each motor and power.Vehicle frame 1 is " Π " type, and middle part is opened wide.Adopt this structure, vehicle frame middle part is distant with ground, possesses higher crossing ability.
A kind of control method based on above-mentioned four wheel drive high-clearance travelling car, the rotating speed of each wheel is independently controlled by hub type motor respectively, Ackermann steer angle, controls the left side steer motor 61 that the near front wheel 21 and left rear wheel 22 turn to simultaneously and controls off front wheel 23 and right hand steering motor 62 that off hind wheel 24 turns to regulates corner according to angular signal simultaneously.
Concrete, comprise the following steps:
(1) master controller 4 receives that outside turns to and speed signal, converses angular signal and the tach signal of each wheel;
(2) tach signal sends to each hub type motor through hub type motor driver and carries out rotating speed control;
(3) angular signal sends to respectively left side steer motor 61 and right hand steering motor 62 through steer motor actuator, left side steer motor 61 and right hand steering motor 62 drive left side steering hardware and right hand steering mechanism controls left side wheel and right side wheels interlock, in the time that the wheel axis of the near front wheel 21 and the wheel axis of off front wheel 23, the wheel axis of left rear wheel 22 and the wheel axis of off hind wheel 24 all overlap, realize the craspedodrome of vehicle; In the time that the wheel axis of the near front wheel 21, off front wheel 23, left rear wheel 22 and off hind wheel 24 intersects at a point, as shown in Figure 2, realize the arbitrarily angled of vehicle and turn to; In the time that the wheel axis of the near front wheel 21, off front wheel 23, left rear wheel 22 and off hind wheel 24 all points to car body center, realize the original place rotation of vehicle; In the time that the wheel axis of the near front wheel 21 and the wheel axis of off front wheel 23, the wheel axis of left rear wheel 22 and the wheel axis of off hind wheel 24 are all parallel, realize the transverse translation of vehicle; Otherwise, realize braking and the parking of vehicle.Above-mentioned wheel axis specifically refers to the direction that rotation shaft of wheel is pointed to.
In the present embodiment, the rotation direction sensor 9 that wheel place arranges gathers the current angular signal of wheel in real time, and the signal of collection is used for realizing closed loop control.
Embodiment 2
The present embodiment except following characteristics other structures with embodiment 1: in the present embodiment, the structure of described left side steering hardware and right hand steering mechanism as shown in Figure 6, left side steer motor 61 and right hand steering motor 62 are all arranged on vehicle frame 1, therefore, taking left side steering hardware as example, left side steer motor 61 is all identical to the link gear of the near front wheel 21 and left rear wheel 22, described link gear comprises conic reducer 74, transmission shaft 71 and the second retarder 8 as shown in Figure 4, conic reducer 74 is arranged on the steering hardware of left rear wheel and the near front wheel, be connected with the steering shaft in steering hardware respectively, conic reducer 74 in the steering hardware of each side on former and later two wheels is connected by transmission shaft 71, transmission shaft 71 is connected with the second retarder 8, the second retarder 8 is connected with steer motor.In the present embodiment, the same toothed belt transmission pair that adopts of the second retarder 8.
Above-described embodiment is preferably embodiment of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under Spirit Essence of the present invention and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in protection scope of the present invention.
Claims (6)
1. a four wheel drive high-clearance travelling car, it is characterized in that, comprise vehicle frame, wheel, braking mechanism, master controller and battery, wheel is arranged on bottom of frame, wheel comprises the near front wheel, left rear wheel, off front wheel, off hind wheel, on each wheel, be equipped with one for controlling the steering hardware of wheel steering, each wheel is by hub type motor individual drive; Steering hardware on described the near front wheel is connected with left side steer motor by link gear with the steering hardware on left rear wheel, composition left side steering hardware together, steering hardware on off front wheel is connected with right hand steering motor by link gear with the steering hardware on off hind wheel, forms together right hand steering mechanism; Left side steering hardware, right hand steering mechanism are all arranged on vehicle frame; Braking mechanism is fixedly installed at least two wheel places; Master controller is connected with each hub type motor, left side steer motor, right hand steering motor and braking mechanism respectively, and described battery is arranged on vehicle frame, for powering to device;
Described braking mechanism comprises brake pump, lower brake pump, disk brake, brake motor and for keeping the spring device of pressure when the brake, spring device one end is connected with brake motor, the other end is connected with upper brake pump, upper brake pump is connected with lower brake pump by hydraulic pipe, brake motor, spring device, upper brake pump are all fixed on vehicle frame, and lower brake pump is fixed on the wheel stand in steering hardware, and disk brake is fixed on wheel, when work, lower brake pump clamps disk brake;
Steer motor actuator, hub type motor driver and brake motor actuator that described master controller is connected respectively by main control chip and with main control chip form, described steer motor actuator is connected with right hand steering motor with left side steer motor respectively, and steer motor actuator is also connected with the rotation direction sensor that is arranged on wheel place respectively simultaneously; Described hub type motor driver is connected with each hub type motor respectively, and described brake motor actuator is connected with the brake motor in each braking mechanism;
Described link gear comprises universal-joint, transmission shaft, the first retarder and the second retarder, the first retarder is arranged on each steering hardware, be connected with the steering shaft in steering hardware, transmission shaft one end is connected with the first retarder by universal-joint, the other end is connected with the second retarder by universal-joint, and the second retarder is connected with steer motor.
2. four wheel drive high-clearance travelling car according to claim 1, it is characterized in that, the steering hardware at described each wheel place is made up of steering shaft and wheel stand, wheel is arranged on wheel stand below, wheel stand is fixedly connected with steering shaft, steering shaft is perpendicular to ground and point to wheel center, and steering shaft is connected with link gear, and steering shaft one side is provided with rotation direction sensor.
3. four wheel drive high-clearance travelling car according to claim 2, it is characterized in that, described left side steer motor is arranged on the near front wheel or left rear wheel, right hand steering motor is arranged on off front wheel or off hind wheel, on the residing wheel of steer motor, the second retarder is directly connected with the first retarder on this wheel, for another wheel, the second retarder is connected with transmission shaft one end by universal-joint, and the transmission shaft other end is connected with the first retarder on this wheel by universal-joint.
4. four wheel drive high-clearance travelling car according to claim 1, it is characterized in that, described link gear is replaced by and comprises conic reducer, transmission shaft and the second retarder, conic reducer is arranged on each steering hardware, be connected with the steering shaft in steering hardware, in the steering hardware of each side, former and later two conic reducers are connected by transmission shaft, and transmission shaft is connected with the second retarder, and the second retarder is connected with steer motor.
5. four wheel drive high-clearance travelling car according to claim 1, is characterized in that, described the first retarder adopts worm type of reduction gearing, and the second retarder adopts toothed belt transmission pair.
6. the control method based on four wheel drive high-clearance travelling car claimed in claim 1, it is characterized in that, the rotating speed of each wheel is independently controlled by hub type motor respectively, Ackermann steer angle, controls the left side steer motor that the near front wheel and left rear wheel turn to simultaneously and controls off front wheel and right hand steering motor that off hind wheel turns to regulates corner according to angular signal simultaneously;
Comprise the following steps:
(1) master controller reception outside turns to and speed signal, converses angular signal and the tach signal of each wheel;
(2) tach signal sends to each hub type motor through hub type motor driver and carries out rotating speed control;
(3) angular signal sends to respectively left side steer motor and right hand steering motor through steer motor actuator, left side steer motor and right hand steering driven by motor left side steering hardware and right hand steering mechanism controls left side wheel and right side wheels interlock, in the time that the wheel axis of the near front wheel and the wheel axis of off front wheel, the wheel axis of left rear wheel and the wheel axis of off hind wheel all overlap, realize the craspedodrome of vehicle; In the time that the wheel axis of the near front wheel, off front wheel, left rear wheel and off hind wheel intersects at a point, realize the arbitrarily angled of vehicle and turn to; In the time that the wheel axis of the near front wheel, off front wheel, left rear wheel and off hind wheel all points to car body center, realize the original place rotation of vehicle; In the time that the wheel axis of the near front wheel and the wheel axis of off front wheel, the wheel axis of left rear wheel and the wheel axis of off hind wheel are all parallel, realize the transverse translation of vehicle; Otherwise, realize braking and the parking of vehicle; Above-mentioned wheel axis specifically refers to the direction that rotation shaft of wheel is pointed to;
(4), in above-mentioned treating process, the rotation direction sensor that described wheel place arranges gathers the current angular signal of wheel in real time, and the signal of collection is uploaded to master controller for realizing closed loop control by steer motor actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210113160.8A CN102653246B (en) | 2012-04-17 | 2012-04-17 | Four-wheel driven high-ground gap mobile car and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210113160.8A CN102653246B (en) | 2012-04-17 | 2012-04-17 | Four-wheel driven high-ground gap mobile car and control method thereof |
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| CN102653246A CN102653246A (en) | 2012-09-05 |
| CN102653246B true CN102653246B (en) | 2014-11-12 |
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| CN201046667Y (en) * | 2007-06-22 | 2008-04-16 | 煤炭科学研究总院太原研究院 | Walking steering device for rubber-wheel shuttle car |
| CN101817362A (en) * | 2009-02-26 | 2010-09-01 | 上海市七宝中学 | Steering system of motor vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760009A (en) * | 2019-02-28 | 2019-05-17 | 华南农业大学 | Across Gansu Province shifting agriculture robot of adjusting ground clearance height and front and rear, left and right inclination angle |
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