CN110203278A - Steering wheel steering engine and drive system, automated driving system and method using steering engine - Google Patents
Steering wheel steering engine and drive system, automated driving system and method using steering engine Download PDFInfo
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- CN110203278A CN110203278A CN201910569674.6A CN201910569674A CN110203278A CN 110203278 A CN110203278 A CN 110203278A CN 201910569674 A CN201910569674 A CN 201910569674A CN 110203278 A CN110203278 A CN 110203278A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000009434 installation Methods 0.000 claims abstract description 17
- 238000004804 winding Methods 0.000 claims abstract description 16
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- 238000004364 calculation method Methods 0.000 claims description 17
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- 238000001514 detection method Methods 0.000 claims description 13
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The invention discloses a kind of steering wheel steering engine and drive systems, using the automated driving system and method for steering engine, interior of shell is fixedly installed with stator, the centre of location is equipped with rotor, it shuts and is only equipped with circular mounting hole at center in one end of shell, the other end of shell is fixed with end cap, the center of shell also is provided with circular mounting hole, stator includes installation set and stator winding, the excircle of installation set is equipped with stator winding, stator is installed inside the shell by installation set, rotor includes ontology, one end of ontology is fixed with the first connector sleeve, the other end of ontology is fixed with the second connector sleeve, ontology, the center of first connector sleeve and the second connector sleeve is equipped with shaft mounting hole, the excircle of ontology is equipped with rotor windings.The present invention is mainly mechanical to mark precision agriculture, unmanned direction dish driving.Steering wheel steering engine makes agricultural mechanical operation implement to be accurately positioned, agricultural productive force can be improved, and quick, efficient, high-precision, automated job on large area arable land may be implemented.
Description
Technical field
The present invention relates to automatic Pilot technical field, specially a kind of steering wheel steering engine and drive system, using steering engine
Automated driving system and method.
Background technique
With agrotechnical continuous development, in order to save labour, land utilization ratio and labor efficiency, agricultural are improved
The demand of automation is more more and more urgent, and agricultural automation operation is mainly realized by automatic driving of agricultural machinery, automatic Pilot
In the process, agricultural machineries' driver needs following of whole journey, reaches the edge of a field and also needs manual drive when encountering barrier, cannot achieve nobody
It drives, it is still desirable to more labour.
Summary of the invention
The purpose of the present invention is to provide a kind of steering wheel steering engine and drive system, using steering engine automated driving system and
Method needs following of whole journey to solve agricultural machineries' driver mentioned above in the background art, when reaching the edge of a field and encountering barrier
Manual drive is also needed, cannot achieve unmanned, it is still desirable to the problem of more labour.
To achieve the above object, the invention provides the following technical scheme:
A kind of steering wheel steering engine, including shell, end cap, rotor and stator, the interior of shell are fixedly installed with stator, institute
State the centre of location and rotor be installed, one end of the shell shuts and is only equipped with circular mounting hole at center, the shell it is another
One end is fixed with end cap, and the center of the shell also is provided with circular mounting hole, and the stator includes installation set and stator winding, institute
The excircle for stating installation set is equipped with stator winding, and the stator is installed inside the shell by installation set, and the rotor includes this
Body, one end of the ontology are fixed with the first connector sleeve, and the other end of the ontology is fixed with the second connector sleeve, the ontology,
The center of first connector sleeve and second connector sleeve is equipped with shaft mounting hole, and the excircle of the ontology is equipped with rotor
Winding, the rotor are installed inside the shell by the first connector sleeve and the second connector sleeve.
Further, first bearing is installed on first connector sleeve, the second axis is installed on second connector sleeve
It holds, the outer ring of the first bearing and the second bearing is respectively mounted inside the shell.
Further, the shaft mounting hole is cylindrical hole.
Further, second connector sleeve stretches out the circular mounting hole that the shell shuts one end.
Further, first connection is set in end cap.
A kind of drive system of steering wheel steering engine, the steering wheel steering engine carry drive system, the drive system control
Power supply and driving power, the control power supply give CPU, PWM, protection circuit, conditioning circuit, rotation change decoding circuit and DA defeated respectively
It powers out, the CPU controls PWM, and the CPU is also connected with protection circuit and DA output, and the driving power gives drive respectively
Dynamic circuit and current sensor power supply, the driving circuit are electrically connected with inverter, and the inverter and PMSM are electrically connected, institute
It states and is provided with current sensor between inverter and PMSM, the PMSM is electrically connected with multi-turn absolute value encoder, the multi-turn
Absolute value encoder and rotation become decoding circuit and are electrically connected, and the current sensor and conditioning circuit are electrically connected
A kind of automated driving system using steering engine, including the big-dipper satellite reference receiver being connected with big-dipper satellite
With the master controller being installed on vehicle, the big-dipper satellite reference receiver and master controller are described by being wirelessly connected
Master controller includes steering controller, brake controller, throttle control, path contrast module and detection of obstacles controller,
The steering controller and steering wheel steering engine are electrically connected, in the shaft for the steering wheel that the steering wheel steering engine is mounted on vehicle,
Encoder, the E-Gas electric connection of the throttle control and vehicle, the brake control are also equipped in the shaft
The electric brake of device and vehicle is electrically connected, and the E-Gas and the electric brake are electrically connected with velocity sensor,
The path contrast module and angle calculation unit are electrically connected, and the angle calculation unit is also electrically connected with encoder, institute
It states encoder and steering controller is electrically connected, the detection of obstacles controller includes the first radar and the second radar.
Further, fixed signal transmitter is equipped in the big-dipper satellite reference receiver, in the master controller
Equipped with movable signal receiver, the big-dipper satellite reference receiver passes through the shifting in fixed signal transmitter and master controller
Dynamic signal receiver carries out data transmission.
Further, the encoder and movable signal transmitter are electrically connected, the movable signal transmitter and master control
Device processed and angle calculation unit are electrically connected.
Further, the velocity sensor and master controller are electrically connected.
Further, the angle calculation unit and steering controller are electrically connected.
Further, first radar is mounted on the wheel front end of vehicle, and second radar is mounted on the vehicle of vehicle
Head front end.
A kind of automatic Pilot method using steering engine,
Step 1: acquisition and tracking being carried out to the Beidou navigation signal received by big-dipper satellite mobile station receiver and is determined
Position resolves, and obtains the fixed route of vehicle movement, later with from big-dipper satellite reference receiver by being wirelessly transferred
The data come do Difference Solution calculation, obtain exact position and the posture information of vehicle itself；
Step 2: the fixed route that vehicle will travel is input in master controller.Master controller, which gets to come from, to be passed through
Movable signal transmitter obtains the position of vehicle, speed, posture information, actual track, calculates vehicle by these information
Real time position, while being compared the position with given line by the path contrast module in master controller；
Step 3: path contrast module is by the way that the angle [alpha] between actual track and given line, which is vehicle
Steering wheel steering engine needs to control the best angle of Vehicular turn when approaching given line；
Step 4: steering controller can obtain shaft in current steering wheel steering engine by reading the data of encoder in real time
Angle value θ, it is known that the angle [alpha] between actual track and given line, then the shaft in steering wheel steering engine also needs to rotate
Angle is α-θ, is denoted as Δ θ；
Step 5: the angle delta θ that directive wheel also needs to rotate is transmitted to steering wheel steering engine, steering wheel steering engine by steering controller
And shaft is driven to rotate Δ θ, move agricultural machinery towards assigned direction；
Step 3-5 is repeated, vehicle can gradually approach ideal path, can be gone later according to the ideal path planned
It sails, the automatic Pilot of vehicle is controlled to realize.
Further, when normal vehicle operation, that is, vehicle keeps straight-line travelling, the speed controller in master controller can lead to
Speed control of the control E-Gas by vehicle is crossed less than 30km/h, master controller supervises speed by velocity sensor
Control.
Further, when master controller, which detects, needs vehicle turning or u-turn in fixed route, in master controller
The speed of vehicle can be less than 10km/h by control E-Gas by speed controller, and master controller is by velocity sensor to speed
Degree is monitored.
Further, when the first detections of radar on vehicle to obstacle signal, the second detections of radar is believed less than barrier
Number when, normal vehicle operation；When the first radar and the second radar can't detect obstacle signal, normal vehicle operation；When
When first radar and the second radar detect obstacle signal, signal is fed back to master controller by detection of obstacles controller,
Brake controller in master controller brakes vehicle by controlling electric brake, and master controller passes through velocity pick-up
Device is monitored speed.
Compared with prior art, unmanned the beneficial effects of the present invention are: the present invention is mainly mechanical to mark precision agriculture
Direction dish driving.Steering wheel steering engine makes agricultural mechanical operation implement to be accurately positioned, agricultural productive force can be improved, and efficiently utilizes agriculture
Industry resource, preserves the ecological environment, be realize high-quality, high yield, low consumption, environmental protection Agricultural Sustainable Development effective way, can be with
Realize large area arable land on quick, efficient, high-precision, automated job, can be used for entirely, sowing, harvesting, pesticide spray
It multiple production links such as spills, greatly improves production efficiency and land utilization ratio.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the steering engine in the present invention；
Fig. 2 is the schematic view of the front view of Fig. 1 of the present invention；
Fig. 3 is the internal sectional structure schematic diagram of Fig. 1 of the present invention；
Fig. 4 is the schematic perspective view of rotor in Fig. 3 of the present invention；
Fig. 5 is the schematic view of the front view of Fig. 4 of the present invention；
Fig. 6 is the schematic cross-sectional view of the right view of Fig. 5 of the present invention；
Fig. 7 is the structural schematic diagram of the stator in Fig. 3 of the present invention；
Fig. 8 is the automated driving system schematic diagram in the present invention；
Fig. 9 is that the angle α of the present invention forms schematic diagram；
Figure 10 is the scheme of installation of the detection of obstacles controller in automatic control system of the present invention；
Figure 11 is the drive system frame diagram of steering wheel steering engine in the present invention；
Figure 12 is the schematic diagram of the multi-turn absolute value encoder decoding circuit in the present invention in drive system；
Figure 13 is the schematic diagram of the conditioning circuit in the present invention in drive system；
Figure 14 is the schematic diagram of the protection circuit in the present invention in drive system
Figure 15 is the schematic diagram of the DA conversion circuit in the present invention in drive system；
Figure 16 is the schematic diagram of the main power circuit in the present invention in drive system.
In figure: 1 shell, 2 end caps, 3 rotors, 301 ontologies, 302 first connector sleeves, 303 second connector sleeves, 304 first axles
It holds, 305 second bearings, 306 rotor windings, 307 shaft mounting holes, 4 stators, 401 installation sets, 402 stator winding, 403 power
Line, 5 big-dipper satellite reference receivers, 5 master controllers, 7 steering controllers, 8 brake controllers, 9 throttle controls, 10 paths
Contrast module, 11 detection of obstacles controllers, 12 steering wheel steering engines, 13 encoders, 14 movable signal transmitters, 15 fixed signals
Transmitter, 16 movable signal receivers, 17 E-Gas, 18 electric brakes, 19 velocity sensors, 20 angle calculation units, 21
First radar, 22 second radars.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1:
Fig. 1-7, a kind of steering wheel steering engine 12, including shell 1, end cap 2, rotor 3 and stator 4 are please referred to, in the shell 1
Portion is fixedly installed with stator 4, and the centre of location is equipped with rotor 3, and one end of the shell 1 shuts and is only equipped with circle at center
Shape mounting hole, the other end of the shell 1 are fixed with end cap 2, and the center of the shell 1 also is provided with circular mounting hole, described fixed
Son 4 includes installation set 401 and stator winding 402, and the excircle of the installation set 401 is equipped with stator winding 402, the stator
4 are mounted in shell 1 by installation set 401, and the rotor 3 includes ontology 301, and one end of the ontology 301 is fixed with first
Connector sleeve 302, the other end of the ontology 301 are fixed with the second connector sleeve 303, the ontology 301, first connector sleeve
302 and the center of second connector sleeve 303 be equipped with shaft mounting hole 307, the excircle of the ontology 301 be equipped with rotor around
Group 306, the rotor 3 are mounted in shell 1 by the first connector sleeve 302 and the second connector sleeve 303.
Embodiment 2:
Fig. 1-7, a kind of steering wheel steering engine 12, including shell 1, end cap 2, rotor 3 and stator 4 are please referred to, in the shell 1
Portion is fixedly installed with stator 4, and the centre of location is equipped with rotor 3, and one end of the shell 1 shuts and is only equipped with circle at center
Shape mounting hole, the other end of the shell 1 are fixed with end cap 2, and the center of the shell 1 also is provided with circular mounting hole, described fixed
Son 4 includes installation set 401 and stator winding 402, and the excircle of the installation set 401 is equipped with stator winding 402, the stator
4 are mounted in shell 1 by installation set 401, and the rotor 3 includes ontology 301, and one end of the ontology 301 is fixed with first
Connector sleeve 302, the other end of the ontology 301 are fixed with the second connector sleeve 303, the ontology 301, first connector sleeve
302 and the center of second connector sleeve 303 be equipped with shaft mounting hole 307, the excircle of the ontology 301 be equipped with rotor around
Group 306, the rotor 3 are mounted in shell 1 by the first connector sleeve 302 and the second connector sleeve 303.
First bearing 304 is installed on first connector sleeve 302, second axis is installed on second connector sleeve 303
Hold 305, the outer ring of the first bearing 304 and the second bearing 305 is installed in shell 1.The shaft mounting hole 307
For cylindrical hole.Second connector sleeve 303 stretches out the circular mounting hole that the shell 1 shuts one end.First connector sleeve 302
It is arranged in end cap 2.The stator 4 is equipped with power line 403, and the stator 4 is electrically connected by power line 403 with master controller
It connects.The control port of the steering wheel steering engine has tri- kinds of RS232, CAN, analog voltage 0-5V, the shell of the steering wheel steering engine
On be provided with external start-up and shut-down control button.
Embodiment 3:
On the basis of embodiment 2, referring to Fig. 8, a kind of automated driving system using steering engine, including with big-dipper satellite phase
The big-dipper satellite reference receiver 5 of connection and the master controller 6 being installed on vehicle, the big-dipper satellite reference receiver
5 pass through wireless connection with master controller 6, and the master controller 6 includes steering controller 7, brake controller 8, throttle control
9, path contrast module 10 and detection of obstacles controller 11, the steering controller 7 are electrically connected with steering wheel steering engine 12, institute
In the shaft for stating the steering wheel that steering wheel steering engine 12 is mounted on vehicle, encoder 13, the throttle are also equipped in the shaft
The E-Gas 17 of controller 9 and vehicle is electrically connected, and the electric brake 18 of the brake controller 8 and vehicle is electrically connected,
The E-Gas 17 is electrically connected with velocity sensor 19 with the electric brake 18, the path contrast module 10 and angle
Computing unit 20 is spent to be electrically connected, the angle calculation unit 20 is also electrically connected with encoder 13, the encoder 13 with turn
It is electrically connected to controller 7, the detection of obstacles controller 11 includes the first radar 21 and the second radar 22.
Embodiment 4:
On the basis of embodiment 2, referring to Fig. 8, a kind of automated driving system using steering engine, including with big-dipper satellite phase
The big-dipper satellite reference receiver 5 of connection and the master controller 6 being installed on vehicle, the big-dipper satellite reference receiver
5 pass through wireless connection with master controller 6, and the master controller 6 includes steering controller 7, brake controller 8, throttle control
9, path contrast module 10 and detection of obstacles controller 11, the steering controller 7 are electrically connected with steering wheel steering engine 12, institute
In the shaft for stating the steering wheel that steering wheel steering engine 12 is mounted on vehicle, encoder 13, the throttle are also equipped in the shaft
The E-Gas 17 of controller 9 and vehicle is electrically connected, and the electric brake 18 of the brake controller 8 and vehicle is electrically connected,
The E-Gas 17 is electrically connected with velocity sensor 19 with the electric brake 18, the path contrast module 10 and angle
Computing unit 20 is spent to be electrically connected, the angle calculation unit 20 is also electrically connected with encoder 13, the encoder 13 with turn
It is electrically connected to controller 7, the detection of obstacles controller 11 includes the first radar 21 and the second radar 22.
It is equipped with fixed signal transmitter 15 in the big-dipper satellite reference receiver 5, is equipped with and moves in the master controller 6
Dynamic signal receiver 16, the big-dipper satellite reference receiver 5 pass through the shifting in fixed signal transmitter 15 and master controller 6
Dynamic signal receiver 16 carries out data transmission.The encoder 13 is electrically connected with movable signal transmitter 14, the mobile letter
Number transmitter 14 and master controller 6 and angle calculation unit 20 are electrically connected.The velocity sensor 19 and master controller 6 are electrical
Connection.The angle calculation unit 20 is electrically connected with steering controller 7.Before first radar 21 is mounted on the wheel of vehicle
End, second radar 22 are mounted on the headstock front end of vehicle.The encoder includes incremental encoder and absolute value sensing
The operating mode of device, steering controller control steering wheel steering engine has velocity mode and two kinds of mode position, while the steering is controlled
Device processed is realized by can bus group network control system, and by RS232 to the control of steering wheel steering engine revolving speed and reading data.
Operating mode allocation list:
Embodiment 5:
On the basis of embodiment 4, reference Fig. 8-10, a kind of automatic Pilot method using steering engine,
Step 1: acquisition and tracking being carried out to the Beidou navigation signal received by big-dipper satellite mobile station receiver and is determined
Position resolves, and obtains the fixed route of vehicle movement, later with from big-dipper satellite reference receiver 5 by being wirelessly transferred
The data come do Difference Solution calculation, obtain exact position and the posture information of vehicle itself；
Step 2: the fixed route that vehicle will travel is input in master controller 6.Master controller 6 is got from logical
It crosses movable signal transmitter 14 and obtains the position of vehicle, speed, posture information, actual track, calculate vehicle by these information
Real time position, while the position being compared with given line by the path contrast module 10 in master controller 6；
Step 3: by the angle [alpha] between actual track and given line, which is path contrast module 10
Steering wheel steering engine 12 needs to control the best angle of Vehicular turn when vehicle approaches given line；
Step 4: steering controller 7 can obtain current 12 transfer of steering wheel steering engine by reading the data of encoder 13 in real time
The angle value θ of axis, it is known that the angle [alpha] between actual track and given line, then the shaft in steering wheel steering engine 12 also needs
The angle of rotation is α-θ, is denoted as Δ θ；
Step 5: the angle delta θ that directive wheel also needs to rotate is transmitted to steering wheel steering engine 12, steering wheel rudder by steering controller 7
Machine 12 simultaneously drives shaft to rotate Δ θ, moves agricultural machinery towards assigned direction；
Step 3-5 is repeated, vehicle can gradually approach ideal path, can be gone later according to the ideal path planned
It sails, the automatic Pilot of vehicle is controlled to realize.
Embodiment 6:
On the basis of embodiment 4, reference Fig. 8-10, a kind of automatic Pilot method using steering engine,
Step 1: acquisition and tracking being carried out to the Beidou navigation signal received by big-dipper satellite mobile station receiver and is determined
Position resolves, and obtains the fixed route of vehicle movement, later with from big-dipper satellite reference receiver 5 by being wirelessly transferred
The data come do Difference Solution calculation, obtain exact position and the posture information of vehicle itself；
Step 2: the fixed route that vehicle will travel is input in master controller 6.Master controller 6 is got from logical
It crosses movable signal transmitter 14 and obtains the position of vehicle, speed, posture information, actual track, calculate vehicle by these information
Real time position, while the position being compared with given line by the path contrast module 10 in master controller 6；
Step 3: by the angle [alpha] between actual track and given line, which is path contrast module 10
Steering wheel steering engine 12 needs to control the best angle of Vehicular turn when vehicle approaches given line；
Step 4: steering controller 7 can obtain current 12 transfer of steering wheel steering engine by reading the data of encoder 13 in real time
The angle value θ of axis, it is known that the angle [alpha] between actual track and given line, then the shaft in steering wheel steering engine 12 also needs
The angle of rotation is α-θ, is denoted as Δ θ；
Step 5: the angle delta θ that directive wheel also needs to rotate is transmitted to steering wheel steering engine 12, steering wheel rudder by steering controller 7
Machine 12 simultaneously drives shaft to rotate Δ θ, moves agricultural machinery towards assigned direction；
Step 3-5 is repeated, vehicle can gradually approach ideal path, can be gone later according to the ideal path planned
It sails, the automatic Pilot of vehicle is controlled to realize.
When normal vehicle operation, that is, vehicle keeps straight-line travelling, the speed controller in master controller 6 can pass through control electricity
By the speed control of vehicle less than 30km/h, master controller 6 is monitored speed by velocity sensor 19 electronic throttle 17.
Speed control when master controller 6, which detects, needs vehicle turning or u-turn in fixed route, in master controller 6
The speed of vehicle can be less than 10km/h by control E-Gas 17 by device, and master controller 6 is by velocity sensor 19 to speed
It is monitored.
When the first radar 21 on vehicle detects obstacle signal, when the second radar 22 can't detect obstacle signal,
Normal vehicle operation；When the first radar 21 and the second radar 22 can't detect obstacle signal, normal vehicle operation；When
When one radar 21 and the second radar 22 detect obstacle signal, signal is fed back to master control by detection of obstacles controller 11
Device 6, the brake controller 8 in master controller 6 brakes vehicle by controlling electric brake 18, and master controller 6 is logical
Velocity sensor 19 is crossed to be monitored speed.
The steering wheel steering engine carries drive system, the drive system control power supply and driving power, the control electricity
Source gives CPU, PWM, protection circuit, conditioning circuit, rotation to become decoding circuit and DA output power supply respectively, and the CPU controls PWM, institute
It states CPU to be also connected with protection circuit and DA output, the driving power gives driving circuit and current sensor to power respectively, institute
It states driving circuit to be electrically connected with inverter, the inverter and PMSM are electrically connected, and are provided between the inverter and PMSM
Current sensor, the PMSM are electrically connected with multi-turn absolute value encoder, and the multi-turn absolute value encoder and rotation become decoding electricity
Road is electrically connected, and the current sensor and conditioning circuit are electrically connected, and using digital control, arithmetic core is the CPU
DSPTMS320F28335, and design has multi-turn absolute value encoder decoding circuit, over-sampling modulate circuit, protection circuit, DA output
Display circuit etc.；Main power circuit uses switching device of the MOSFET as inverter.
As shown in figure 12, in the multi-turn absolute value encoder decoding circuit, the angular displacement sensor of steering wheel steering engine makes
With multi-turn absolute value encoder.Relative to photoelectric encoder, multi-turn absolute value encoder is more suitable for vibrating biggish environment
In, there is advantage in the Direct Driving System of the special occasions such as lathe.The angle measurement of this multi-turn absolute value encoder is most
Big error is 10 ±, use the sine wave differential signal that frequency is 10kHz to input as excitation, output waveform amplitude is with angle
Change and change, the digital quantity of Yao Shixian angular velocity signal, which is read, to carry out digital solution by multi-turn absolute value decoding chip
Code.
Multi-turn absolute value decoding chip has used II type closed-loop system, with highest 16 angle decoding precision and with symbol
Number 15 revolving speeds decode precision, this system designed using this chip rotation change decoding circuit.The circuit mainly includes clock
Circuit, pumping signal conditioning circuit and cosine and sine signal filter circuit etc..This system uses the passive of one piece of 8.192MHz
Crystal oscillator need to be set as clock signal, pumping signal conditioning circuit according to the voltage range of decoding chip sent and received
Meter.Chip can be transmitted 3.6Vp-p10% ± pumping signal, receive 3.15Vp-p20% ± rotation become feedback signal again.RES0,
The level of RES1 pin determines the decoding resolution of the chip, and the higher angular velocity range that can be differentiated of decoding resolution is more
It is low.This system uses highest 16 bit resolution, therefore RES0 and RES1 pin connects high level, decoding chip under the resolution ratio
7500r/min can be traced in highest, greater than experiment motor maximum (top) speed chip default driving frequency be 10kHz, this with use
Multi-turn absolute value encoder magnet excitation frequency require it is identical.Pumping signal tune is constructed using track to track operational amplifier TS922A
Reason circuit adjusting amplitude is simultaneously filtered, and has not only enhanced pumping signal driving capability, but also reduce the noise of pumping signal.
Chip supports that string, two kinds of parallel port data communication mode, SOE pin are certainly that serial communication enables pin, and low level has
SOE pin must be accessed high level if selection parallel mode transmits data by effect.The level of A0 and A1 pin determines the chip
Operational mode, when A0, A1 are low level, decoded angle digital signal will be exported；When A0 is low level, A1 is high
When level, output angular velocity digital signal.This system uses serial transmission mode, and controls A1 pin by the GPIO mouth of DSP
Level change switching encoding/decoding chip angle and angular velocity signal output mode.
When designing the conditioning circuit of multi-turn absolute value decoding chip, sine and cosine phase locking range, i.e. EXC output are noted also
Phase difference with sine and cosine input is no more than ± 44 °.Due to chip EXC output and SIN, COS input pin carry out
Filtering processing, so need to take into account the phase offset at 10kHz when designing filter circuit, to guarantee entire multi-turn
The phase offset of the conditioning circuit of absolute value decoding chip is within ± 44 °.
TMS320F28335 provides the AD conversion channel of 12 bit resolution of double 8 tunnels, it is desirable that input voltage range is in 0~3V
Between.The output signal of the sensors such as electric current, voltage is carried out range-adjusting and filtering processing with full by the effect of conditioning circuit
The incoming level requirement in the AD conversion channel of sufficient DSP.The present invention illustrates this system conditioning electricity by taking A phase current conditioning circuit as an example
The design philosophy on road.Figure 13 is A phase current conditioning circuit, which is cascaded by two operational amplifier circuits.The work of prime amplifier A
With for adjust current sensor output XI a biasing and amplitude so that output level is between 0~3V；Rear class amplifier B
An active second-order filter circuit is constructed, the influence of sampling noise is reduced, improves the reliability of current sample.What system used
Current sensor exports bipolar current signal XI a, and the grounded resistance of palpus is converted into bipolar voltage signal, voltage model
It encloses for -3V~+3V.Therefore also need to handle bipolar voltage signal, make its level change range shorter to 0~3V with
It is interior.This circuit adjusts the biasing and amplitude of bipolar voltage signal by way of increasing a reference voltage, adjusts formula
Are as follows:Wherein, XiaFor the output signal of current sensor；
VrefFor the 3V bias voltage of voltage stabilizing chip TL431 building；Xia' be operational amplifier A output.Electricity adjusted
Press signal Xia' level range be 0V~3V, meet the input voltage requirement in AD conversion channel just.
As shown in figure 14, protection circuit includes bus overcurrent protection, bus overvoltage protection, revolves the protection of change decoding failure, is soft
Part report an error protection etc. functions, when protect circuit receive any one of the above protection signal when, system will block immediately driving letter
Number output.
The Err0 signal for protecting circuit is DC bus overcurrent protection signal, and the present invention only illustrates by taking overcurrent protection as an example
Protect the course of work of circuit.XI DC is voltage corresponding to the DC bus current after conditioning, voltage comparator
The negative input end of LM393 is the bus overcurrent threshold voltage of setting.If XI DC is more than the threshold voltage, overcurrent protection signal
Lamp will light, and Err0 level will be lower by height, and d type flip flop CD4013B is triggered by rising edge, the level overturning of output pin,
System error signal lamp lights, while FAULT signal becomes high level, to trigger CPLD block drive output signal because protecting
The trigger source signal of protection circuit is all analog signal, and NAND gate used in logic circuit and d type flip flop are digit chip,
So needing that trigger source signal is isolated with logic level using optocoupler, while optocoupler also achieves the work of level conversion
With.
As shown in figure 15, the effect of DA conversion circuit is to export the variable in numerical control system with analog voltage amount,
In order to the display and analysis of oscillograph.Detailed process are as follows: first pass through mode concurrently or sequentially for the numerical variable in program
It is sent in DA conversion circuit, then DA conversion circuit is converted into analog voltage signal, then checks the mould by oscillograph
Quasi- voltage waveform.This system uses 8 channel, the 13 parallel-by-bit DA chip MAX547 of one piece of Maxim to build digital-to-analogue conversion
Circuit.This DA chip is dual power supply, the negative voltage source by TL431 building -5V source of stable pressure as MAX547；DA chip
Reference voltage provided by ADR4525, and follow circuit using MAX494 composition and improve the driving capability of reference voltage chip；
A0-A2 pin is connected with the channel for selecting data to export with DSP address pin XA0-XA2.
For main power circuit using three-phase bridge structure come design voltage source type inverter, switching device has selected six models
For IXFH52N300 power field effect pipe.MOSFET has the advantages that conducting resistance is small, driving current is small, conducting speed is fast etc.,
The heat energy loss of power amplifier can be reduced in the higher occasion of switching frequency.Main power circuit schematic diagram is as shown in figure 16.
The driving signal of MOSFET is generated by IR2110 chip, and three road signals of power tube output are coupled with permanent-magnet synchronous
On U, V, W three-phase windings connecting terminal of motor.Since IR2110 chip interior output impedance is lower, driving function is directly used it to
Rate device can cause the voltage oscillation between MOSFET drain-source, therefore IR2110 output end resistance of having connected improves the stabilization of driving
Property；One diode of inverse parallel with this accelerates turn-off speed in series resistance simultaneously.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of steering wheel steering engine, it is characterised in that: including shell, end cap, rotor and stator, the interior of shell is fixedly mounted
There is stator, the centre of location is equipped with rotor, and one end of the shell shuts and is only equipped with circular mounting hole at center, described
The other end of shell is fixed with end cap, and the center of the shell also is provided with circular mounting hole, and the stator includes installation set and determines
Sub- winding, the excircle of the installation set are equipped with stator winding, and the stator is installed inside the shell by installation set, and described turn
Attached bag includes ontology, and one end of the ontology is fixed with the first connector sleeve, and the other end of the ontology is fixed with the second connector sleeve, institute
The center for stating ontology, first connector sleeve and second connector sleeve is equipped with shaft mounting hole, on the excircle of the ontology
Equipped with rotor windings, the rotor is installed inside the shell by the first connector sleeve and the second connector sleeve.
2. steering wheel steering engine according to claim 1, it is characterised in that: be equipped with first axle on first connector sleeve
It holds, second bearing is installed on second connector sleeve, the outer ring of the first bearing and the second bearing is installed in outer
In shell.
3. a kind of drive system of the steering wheel steering engine as described in any one in claim 1-2, it is characterised in that: the side
Carry drive system, drive system control power supply and driving power to disk steering engine, the control power supply give respectively CPU,
PWM, protection circuit, conditioning circuit, rotation become decoding circuit and DA output power supply, and the CPU controls PWM, the CPU also with protection
Circuit and DA output are connected, and the driving power gives driving circuit and current sensor to power respectively, the driving circuit with
Inverter electrical connection, the inverter and PMSM are electrically connected, and current sensor, institute are provided between the inverter and PMSM
It states PMSM to be electrically connected with multi-turn absolute value encoder, the multi-turn absolute value encoder and rotation become decoding circuit and be electrically connected, institute
It states current sensor and conditioning circuit is electrically connected.
4. a kind of automated driving system using any one in the claim 1-2 steering wheel steering engine, it is characterised in that: packet
Include the big-dipper satellite reference receiver being connected with big-dipper satellite and the master controller being installed on vehicle, the big-dipper satellite
By being wirelessly connected, the master controller includes steering controller, brake controller, throttle for reference receiver and master controller
Controller, path contrast module and detection of obstacles controller, the steering controller and steering wheel steering engine are electrically connected, described
Steering wheel steering engine is mounted in the shaft of the steering wheel of vehicle, and encoder, the throttle control are also equipped in the shaft
It is electrically connected with the E-Gas of vehicle, the electric brake of the brake controller and vehicle is electrically connected, the E-Gas
It being electrically connected with velocity sensor with the electric brake, the path contrast module and angle calculation unit are electrically connected,
The angle calculation unit is also electrically connected with encoder, and the encoder and steering controller are electrically connected, the barrier
Detecting controller includes the first radar and the second radar.
5. automated driving system according to claim 3, it is characterised in that: set in the big-dipper satellite reference receiver
There is fixed signal transmitter, movable signal receiver is equipped in the master controller, the big-dipper satellite reference receiver is logical
Fixed signal transmitter is crossed to carry out data transmission with the movable signal receiver in master controller.
6. automated driving system according to claim 3, it is characterised in that: the encoder and movable signal transmitter electricity
Property connection, the movable signal transmitter and master controller and angle calculation unit are electrically connected.
7. automated driving system according to claim 3, it is characterised in that: the velocity sensor and master controller are electrical
Connection.
8. automated driving system according to claim 3, it is characterised in that: the angle calculation unit and steering controller
It is electrically connected.
9. automated driving system according to claim 3, it is characterised in that: first radar is mounted on the wheel of vehicle
Front end, second radar are mounted on the headstock front end of vehicle.
10. a kind of automatic Pilot method using steering engine as described in any one in claim 1-2, it is characterised in that:
Step 1: acquisition and tracking and positioning solution are carried out to the Beidou navigation signal received by big-dipper satellite mobile station receiver
Calculate, and obtain the fixed route of vehicle movement, later with come by wireless transmission from big-dipper satellite reference receiver
Data do Difference Solution calculation, obtain exact position and the posture information of vehicle itself；
Step 2: the fixed route that vehicle will travel is input in master controller.Master controller, which gets to come from, passes through movement
Signal projector obtains the position of vehicle, speed, posture information, actual track, and the real-time of vehicle is calculated by these information
Position, while being compared the position with given line by the path contrast module in master controller；
Step 3: path contrast module is by the way that the angle [alpha] between actual track and given line, which is that vehicle is forced
Steering wheel steering engine needs to control the best angle of Vehicular turn when nearly given line；
Step 4: steering controller can obtain the angle of shaft in current steering wheel steering engine by reading the data of encoder in real time
Value θ, it is known that the angle [alpha] between actual track and given line, the then angle that the shaft in steering wheel steering engine also needs to rotate
For α-θ, it is denoted as Δ θ；
Step 5: the angle delta θ that directive wheel also needs to rotate is transmitted to steering wheel steering engine, steering wheel steering engine and band by steering controller
Turn axis rotates Δ θ, moves agricultural machinery towards assigned direction；
Step 3-5 is repeated, vehicle can gradually approach ideal path, can be travelled later according to the ideal path planned, from
And it realizes and the automatic Pilot of vehicle is controlled.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910569674.6A CN110203278A (en) | 2019-06-27 | 2019-06-27 | Steering wheel steering engine and drive system, automated driving system and method using steering engine |
| AU2020101128A AU2020101128A4 (en) | 2019-06-27 | 2020-06-25 | Steering wheel steering gear and driving system, automatic driving system and method using steering gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910569674.6A CN110203278A (en) | 2019-06-27 | 2019-06-27 | Steering wheel steering engine and drive system, automated driving system and method using steering engine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110203278A true CN110203278A (en) | 2019-09-06 |
Family
ID=67795067
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910569674.6A Pending CN110203278A (en) | 2019-06-27 | 2019-06-27 | Steering wheel steering engine and drive system, automated driving system and method using steering engine |
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| CN (1) | CN110203278A (en) |
| AU (1) | AU2020101128A4 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116176690A (en) * | 2023-04-15 | 2023-05-30 | 济南科亚电子科技有限公司 | Unmanned steering wheel steering engine control system with automatic position memory function |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114659811B (en) * | 2022-04-19 | 2022-08-26 | 台州意豪转向机有限公司 | Inspection platform for detecting functions of steering gear box |
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| JPH10226341A (en) * | 1997-02-12 | 1998-08-25 | Koyo Seiko Co Ltd | Steering device for vehicle |
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| AU2020101128A4 (en) | 2020-07-30 |
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Application publication date: 20190906 |