CN109823162A - A kind of advance system and its control method of wheel pair - Google Patents
A kind of advance system and its control method of wheel pair Download PDFInfo
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- CN109823162A CN109823162A CN201910049621.1A CN201910049621A CN109823162A CN 109823162 A CN109823162 A CN 109823162A CN 201910049621 A CN201910049621 A CN 201910049621A CN 109823162 A CN109823162 A CN 109823162A
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Abstract
The invention discloses the advance systems and its control method of a kind of wheel pair, the system includes hub motor, hub motor is connected into composition wheel to structure with main connecting shaft mechanism, the state of two-wheel traveling is acquired by the rotary angle transmitter placed in coupling body during traveling, data after acquisition are passed through into card insertion intelligent control panel, acquisition data are handled, application control algorithm controls obtained wheel state at this time；The card insertion intelligent control panel and other wheels constitute Collaborative Control to networking is carried out.The present invention breaches traditional wheel steering mechanism, for future car sub-line into mode carried out completely new exploration, give corresponding design, provide a kind of a kind of completely new drive mode that shared economic development, Artificial Intelligence Development may be implemented.
Description
Technical field
The present invention relates to a kind of fluid power motors for being different from our traditional torsion bar transmission turnings and SMPT flat car
Steering pattern, and in particular to a kind of advance system and its control method of wheel pair.
Background technique
Take turns to drive mode it is at present or jejune, but occur gradually in large-scale engineering machinery
Two-wheel or the driving method more taken turns, but such mode is also intended to that the contact area of entire vehicle is allowed to increase, there is no really
The differential steering advantage of wheel pair is embodied, it is therefore necessary to rush the driving method of wheel pair to carry out driving and steering to entire vehicle
Mode carries out completely new design.
The steering system of existing vehicle is mainly realized by torsion bar mechanism, first, causing the steering of entire vehicle
In inflexible, and the energy loss in steering procedure is more serious, second, being difficult to realize comprehensive steering on turning to, is turning
It is merely able to turn over some limited angle during, the function of tire cannot be made full use of；Third, it is total to be unfavorable for vehicle
The development enjoyed；Fourth, being unfavorable for realizing automobile to higher field with neural network, machine learning, Artificial Intelligence Development
Development.It is extraordinary using the speed traveling of two wheels of adjustment, such as only needs to guarantee two wheels in straight-line travelling
Speed be it is the same, in steering procedure guarantee two wheel velocities there are speed differences, can thus realize the various roads of vehicle
Condition traveling also will be very rapid during vehicle turns to, while be very easy to realize lateral traveling, in certain particular fields
Conjunction is extraordinary.
Domestic current wheel has SMPT large flat vehicle model to mode, but his wheel above has with the present invention in steering
The difference of essence.The two-wheel technology of SMPT flat car is as shown in Figure 3: wherein mainly including hydraulic pressure support and hydraulic steering mechanism.
12-SMPT Double-wheel structure solid tyre or pneumatic tire, 13- hydraulic pressure support structure, 14- hydraulic unit driver, 15-T type shaft coupling
Device, 16- flange axle bed, 17- steering bracket mechanism；The related two-wheel mechanism that this mode is constituted is based on fluid-link steering driver
Come what is realized, friction and the differential on ground are not based on to realize, it is difficult to be realized and relatively quickly be turned to, while this design is deposited
Turning to the bigger disadvantage of the abrasion to tire.
Summary of the invention
The present invention is intended to provide a kind of advance system and its control method of wheel pair, break through traditional wheel steering mechanism,
For future car sub-line into mode carried out completely new exploration, give corresponding design.
Steering of the invention is the differential realization steering between the wheel independently driven based on two, but SMPT flat car
Realize that turning to is using hydraulic-driven, the function of playing similar steering engine turns to realize.So based on such currently not yet
Wheel is to drive mode, to design the invention under this mode.The present invention is based on the development of hub motor, and providing one kind can be real
Now share a kind of completely new drive mode of economic development, Artificial Intelligence Development.
The present invention provides a kind of advance systems of wheel pair, including hub motor, and the main connecting shaft mechanism of hub motor is connected
It picks up to form wheel to structure, acquires two-wheel row by the rotary angle transmitter placed in coupling body during traveling
The state sailed is handled acquisition data, application control algorithm pair by the data after acquisition by card insertion intelligent control panel
Obtained wheel state is controlled at this time；The card insertion intelligent control panel and other wheels constitute association to networking is carried out
With control.
The card insertion intelligent control panel, middle part are main control chip, and top is equipped with card insertion intelligent controller gold and refers to, left and right
Two sides are respectively equipped with AD conversion module, the network port, communication interface and control module；Further, the main control chip model
For STM32F103ZET6, AD conversion module model: ZIAD USB CARD USB 6005, network port module model:
W5500I, communication interface modules model: PCM-3680-BE, control module model: NIcRIO-9039, rotary angle transmitter model:
Rice youth WOA-C.
The main connecting shaft mechanism is made of a solid steel pole, and the connection type of main connecting shaft structure and wheel is: in vehicle
The bar reserved on wheel is connect by two shaft couplings with main shaft.
The coupling body is made of a T-type axis, coupling body and main shaft by way of opening hole with main connecting shaft machine
Structure connection, connect, rotary angle transmitter is placed on inside flange coupling by welding with flange bearing.
The control method of the advance system of above-mentioned wheel pair is as follows: first initializing to control system, starts the traveling system
System, then issues traveling mode order, the data collected in real time by angular transducer, guarantees the normal row of wheel pair
It sails.
This Double-wheel structure, which is one, has subversive innovative design, and the one kind for being also based on this two-wheel mode can be achieved
Scheme.
Specifically, in the case where guaranteeing straight-line travelling, it is desirable that wheel immobilizes to one angle of holding, thus right
The hub motor of lower section is adjusted the speed in real time, keeps angle constant, if being intended to turn, by card insertion intelligent control panel to wheel
Send instructions under, turning is realized by the differential mode of two wheels, if multiple wheels can pass through card insertion intelligent to turning
Control panel carries out Collaborative Control to required turn of angle to multiple wheels therein by the network port, can play so artificial
The maximum effect of intelligence.
Further, in the traveling process of wheel pair, speed measuring coder, speed measuring coder pair are housed inside hub motor
The travel speed of wheel carries out real-time monitoring, receives corresponding returned data by the communication interface on control panel, receives at this time
To data can be transmitted in processor, processor is analyzed obtained data, is handled, finally will treated that data are led to
It crosses the network port and is issued to wheel, to guarantee the real-time monitoring of wheel.
When encountering more wheel subcases needs cooperation travelings, working principle is identical as the principle of single wheel, still
Each wheel can carry out address code, can thus control each wheel, in this way in all data by corresponding
Control panel processing after, uniform transmission is to the central processing unit of top, and last central processing unit is to all lower section processors
It is controlled, if take turns is needed to change corresponding posture during traveling at this time, top center processing device is needed to issue life more
After order, lower section processor handles data, the control this completes wheel to structure.
Further, the model Omron E6B2-CCWZ6C of the speed measuring coder.
Beneficial effects of the present invention:
(1) wheel that the present invention is different from SMPT flat car keeps whole system design relatively simple traveling mode.
(2) break through traditional wheel steering mechanism, for future car sub-line into mode carried out completely new exploration, give
Corresponding design.
(3) in there are more wheel travelings, zero turning radius may be implemented.
(4) control strategy of artificial intelligence control allows entire vehicle to have wisdom in more wheel controls, is following unmanned
Vehicle bigger performance space is provided.
Detailed description of the invention
Fig. 1 is the main view of advance system of the present invention.
Fig. 2 is the main view of the card insertion intelligent control panel of advance system of the present invention.
Fig. 3 is the main view in the prior art based on SMPT Double-wheel structure.
Fig. 4 is the control process figure of the single wheel pair of the present invention.
Fig. 5 is the control process figure of artificial intelligence of the present invention.
In figure: 1- hub motor, 2- rotary angle transmitter, 3- coupling body, 4- card insertion intelligent control panel, the main connecting shaft machine of 5-
Structure, 6- card insertion intelligent controller gold refer to, 7-AD conversion module, the 8- network port, 9- communication interface, 10- control module, 11-
Main control chip, 12-SMPT Double-wheel structure solid tyre or pneumatic tire, 13- hydraulic pressure support structure, 14- hydraulic unit driver,
15-T type shaft coupling, 16- flange axle bed, 17- steering bracket mechanism.
Specific embodiment
The present invention is further illustrated below by embodiment, but is not limited to following embodiment.
Embodiment 1:
As shown in Figure 1 and 2, a kind of advance system of wheel pair, including hub motor 1, the main connecting shaft mechanism 5 of hub motor 1 is connected
Composition wheel get up to structure, acquires two-wheel row by the rotary angle transmitter 2 placed in coupling body 3 during traveling
The state sailed is handled acquisition data, application control algorithm by the data after acquisition by card insertion intelligent control panel 4
Obtained wheel state at this time is controlled；The card insertion intelligent control panel 4, to networking is carried out, is constituted with other wheels
Collaborative Control.
The card insertion intelligent control panel 4, middle part are main control chip 11, and top is equipped with card insertion intelligent controller gold and refers to 6,
It is respectively arranged on the left side and the right side AD conversion module 7, the network port 8, communication interface 9 and control module 10.Further, the master control
Chip model is STM32F103ZET6, AD conversion module model: ZIAD USB CARD USB 6005, network port modular type
Number: W5500I, communication interface modules model: PCM-3680-BE, control module model: NIcRIO-9039, rotation angular sensing type
Number: rice youth WOA-C.
The main connecting shaft mechanism is made of a solid steel pole, and the connection type of main connecting shaft structure and wheel is: in vehicle
The bar reserved on wheel is connect by two shaft couplings with main shaft.
The coupling body is made of a T-type axis, coupling body and main shaft by way of opening hole with main connecting shaft machine
Structure connection, connect, rotary angle transmitter is placed on inside flange coupling by welding with flange bearing.
The present invention provides the control method of the advance system of above-mentioned wheel pair, control process is as follows: first to control system
It is initialized, starts the advance system, then traveling mode order is issued, is collected in real time by angular transducer
Data, guarantee wheel pair normally travel.The advance system of above-mentioned wheel pair, control process are as follows: first carrying out just to control system
Beginningization starts the advance system, then issues to traveling mode order, the number collected in real time by angular transducer
According to the normally travel of guarantee wheel pair.
This Double-wheel structure, which is one, has subversive innovative design, and the one kind for being also based on this two-wheel mode can be achieved
Scheme.
Specifically, in the case where guaranteeing straight-line travelling, it is desirable that wheel immobilizes to one angle of holding, thus right
The hub motor 1 of lower section is adjusted the speed in real time, keeps angle constant, right by card insertion intelligent control panel 4 if being intended to turn
Wheel sends instructions under, realizes turning by the differential mode of two wheels, if multiple wheels can pass through card insert type intelligence to turning
It can control plate 4 and Collaborative Control carried out to required turn of angle to multiple wheels therein by the network port 8, can play in this way
The maximum effect of artificial intelligence.
Further, in the traveling process of wheel pair, speed measuring coder, speed measuring coder pair are housed inside hub motor
The travel speed of wheel carries out real-time monitoring, receives corresponding returned data by the communication interface on control panel, receives at this time
To data can be transmitted in processor, processor is analyzed obtained data, is handled, finally will treated that data are led to
It crosses the network port and is issued to wheel, to guarantee the real-time monitoring of wheel.As shown in Figure 4.
The model Omron E6B2-CCWZ6C of the speed measuring coder.
When encountering more wheel subcases needs cooperation travelings, working principle is identical as the principle of single wheel, still
Each wheel can carry out address code, can thus control each wheel, in this way in all data by corresponding
Control panel processing after, uniform transmission is to the central processing unit of top, and last central processing unit is to all lower section processors
It is controlled, if take turns is needed to change corresponding posture during traveling at this time, top center processing device is needed to issue life more
After order, lower section processor handles data, the control this completes wheel to structure.
As shown in figure 5, giving control process of the invention, it is as follows that corresponding logical relationship figure describes control process: in people
After starting whole system in the control of work intelligence, we will detect whole system, guarantee that whole system does not have in control
The starting that whole system can be completed when error is to complete level-one detection each time in the rule for starting and checking
Afterwards, if meeting testing conditions, then enter next stage and control, if not over alarm operation then being executed, if alarm times
Pass through, then continue return upper level carry out, if not over judgement link adjacent thereto is then executed, finally all not over
The restarting of whole system is then carried out by computer, if all without mistake, then to the data travelled every time, storage to electricity
Brain finally obtains best control strategy as the data once learnt.This completes the controls of artificial intelligence.
Claims (8)
1. a kind of advance system of wheel pair, it is characterised in that: including hub motor, the main connecting shaft mechanism of hub motor is connected
It takes turns to form to structure, acquires two-wheel traveling by the rotary angle transmitter placed in coupling body during traveling
State is handled acquisition data, application control algorithm is at this time by the data after acquisition by card insertion intelligent control panel
Obtained wheel state is controlled；The card insertion intelligent control panel and other wheels constitute collaboration control to networking is carried out
System.
2. the advance system of wheel pair according to claim 1, it is characterised in that: the card insertion intelligent control panel, middle part
For main control chip, top is equipped with card insertion intelligent controller gold and refers to, be respectively arranged on the left side and the right side AD conversion module, the network port,
Communication interface and control module.
3. the advance system of wheel pair according to claim 1, it is characterised in that: the main connecting shaft mechanism is solid by one
The connection type of steel pole composition, main connecting shaft structure and wheel is: the bar reserved on wheel is connected by two shaft couplings and main shaft
It connects.
4. the advance system of wheel pair according to claim 1, it is characterised in that: the coupling body is by a T-type axis group
At coupling body and main shaft are connect by way of opening hole with main connecting shaft mechanism, are connected by welding with flange bearing
It connects, rotary angle transmitter is placed on inside flange coupling.
5. a kind of control method of the advance system of the described in any item wheels pair of claim 1 ~ 4, it is characterised in that: control process
It is as follows: first control system being initialized, starts the advance system, then traveling mode order is issued, passes through angle in real time
Degree sensor guarantees the normally travel of wheel pair come the data collected.
6. the control method of the advance system of wheel pair according to claim 5, it is characterised in that: guaranteeing straight-line travelling
In the case of, if being intended to turn, sent instructions under by card insertion intelligent control panel to wheel, the differential mode by two wheels is real
It now turns, if multiple wheels can pass through the network port to multiple wheels pair therein to turning by card insertion intelligent control panel
Required turn of angle carries out Collaborative Control, can play the maximum effect of artificial intelligence in this way.
7. the control method of the advance system of wheel pair according to claim 5, it is characterised in that: in the traveling process of wheel pair
In, speed measuring coder is housed inside hub motor, speed measuring coder carries out real-time monitoring to the travel speed of wheel, passes through control
Communication interface in making sheet receives corresponding returned data, and the data received at this time can be transmitted in processor main control chip,
Processor is analyzed obtained data, is handled, and treated data by the network port is finally issued to wheel, to protect
Demonstrate,prove the real-time monitoring of wheel.
8. the control method of the advance system of wheel pair according to claim 7, it is characterised in that: the main control chip model
For STM32F103ZET6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910049621.1A CN109823162B (en) | 2019-01-18 | 2019-01-18 | Wheel set advancing system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910049621.1A CN109823162B (en) | 2019-01-18 | 2019-01-18 | Wheel set advancing system and control method thereof |
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| Publication Number | Publication Date |
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| CN109823162A true CN109823162A (en) | 2019-05-31 |
| CN109823162B CN109823162B (en) | 2020-10-23 |
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| Application Number | Title | Priority Date | Filing Date |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020200A (en) * | 2016-07-07 | 2016-10-12 | 江苏上骐集团有限公司 | AGV driven by wheel hub motor and its path planning method |
| CN107054460A (en) * | 2017-05-08 | 2017-08-18 | 北京蓝卡科技股份有限公司 | A kind of four-wheel differentia steering mechanism and vehicle |
| CN107380256A (en) * | 2017-07-24 | 2017-11-24 | 上海精虹新能源科技有限公司 | The steering traffic control method of driven plate transport vehicle |
| CN108608846A (en) * | 2018-04-24 | 2018-10-02 | 清华大学 | Front-wheel trailing wheel cooperates with the chassis system for turning to vehicle respectively |
| CN109080444A (en) * | 2018-08-08 | 2018-12-25 | 中国科学院深圳先进技术研究院 | A kind of handling device and handling system, method for carrying based on In-wheel motor driving |
-
2019
- 2019-01-18 CN CN201910049621.1A patent/CN109823162B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020200A (en) * | 2016-07-07 | 2016-10-12 | 江苏上骐集团有限公司 | AGV driven by wheel hub motor and its path planning method |
| CN107054460A (en) * | 2017-05-08 | 2017-08-18 | 北京蓝卡科技股份有限公司 | A kind of four-wheel differentia steering mechanism and vehicle |
| CN107380256A (en) * | 2017-07-24 | 2017-11-24 | 上海精虹新能源科技有限公司 | The steering traffic control method of driven plate transport vehicle |
| CN108608846A (en) * | 2018-04-24 | 2018-10-02 | 清华大学 | Front-wheel trailing wheel cooperates with the chassis system for turning to vehicle respectively |
| CN109080444A (en) * | 2018-08-08 | 2018-12-25 | 中国科学院深圳先进技术研究院 | A kind of handling device and handling system, method for carrying based on In-wheel motor driving |
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| CN109823162B (en) | 2020-10-23 |
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Inventor after: Wu Yaoyan Inventor after: Ren Yifeng Inventor after: Chen Changxin Inventor after: Pang Wei Inventor after: Ma Tiehua Inventor after: Wu Zhibo Inventor after: Li Fan Inventor after: Jiao Bin Inventor after: Guo Wenchao Inventor after: Pei Dongxing Inventor before: Ma Tiehua Inventor before: Ren Yifeng Inventor before: Chen Changxin Inventor before: Pang Wei Inventor before: Wu Zhibo Inventor before: Li Fan Inventor before: Jiao Bin Inventor before: Guo Wenchao Inventor before: Wu Yaoyan Inventor before: Pei Dongxing |
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