CN110254506B - Automatic zero calibration device and method for steering motor of unmanned engineering operation equipment - Google Patents
Automatic zero calibration device and method for steering motor of unmanned engineering operation equipment Download PDFInfo
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- CN110254506B CN110254506B CN201910557344.5A CN201910557344A CN110254506B CN 110254506 B CN110254506 B CN 110254506B CN 201910557344 A CN201910557344 A CN 201910557344A CN 110254506 B CN110254506 B CN 110254506B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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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
- B62D5/046—Controlling the motor
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses an automatic zero calibration device and method for a steering motor of unmanned engineering operation equipment, wherein the device comprises a hinge angle sensor, a steering motor power supply relay, a steering motor controller and a vehicle control unit; the device can detect the offset of the zero position and the positive direction of the vehicle body in real time in the driving process of the unmanned engineering operation equipment, and recalibrates the zero position. The alignment of the zero position of the steering motor and the positions of the front and rear vehicle bodies is corresponding, so that the situation that the steering motor loses control capability due to overlarge zero offset caused by leakage and accumulation of a hydraulic steering system is avoided.
Description
Technical Field
The invention belongs to the technical field of automobile engineering, and particularly relates to an automatic zero calibration device and method for a steering motor of unmanned engineering operation equipment.
Background
The unmanned engineering operation equipment is used for carrying out rolling compaction work under complex working conditions (such as cliff edges) instead of manual driving. Common engineering operation equipment is divided into a front vehicle body and a rear vehicle body, the middle parts of the front vehicle body and the rear vehicle body are connected in a hinged mode, and a hydraulic mechanism is used for driving the front vehicle body and the rear vehicle body to steer. The transformation of the unmanned engineering operation equipment on the basis of the structure of the engineering operation equipment is as follows: the steering motor is directly arranged on a steering wheel shaft to replace manual steering wheel rotation, and a hydraulic mechanism is further driven to work, so that the front and rear vehicle bodies present target angles. However, the following problems are caused by the steering motor instead of the manual driving steering wheel: the leakage accumulation of the hydraulic steering system can cause the change of the corresponding relation between the steering angle of the steering wheel and the actual articulation angle of the vehicle body, and when the steering wheel is manually operated, a driver can judge the deflection condition of the vehicle body through the driving experience and the actual driving path; different from manual operation, when a steering motor controls a steering wheel, the steering motor needs to be operated on the premise of ensuring that the zero position of the motor corresponds to the alignment of the front and rear vehicle body positions, if zero position calibration measures of the steering motor are lacked, the zero position offset of the steering motor is overlarge, the steering of a vehicle exceeds the control range of the steering motor, the unmanned engineering operation equipment is out of control, and accidents are caused.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic zero position calibration device and method for a steering motor of unmanned engineering operation equipment.
The invention is realized by the following technical scheme:
an automatic zero calibration device for a steering motor of unmanned engineering operation equipment comprises a hinge angle sensor, a steering motor power supply relay, a steering motor controller and a vehicle control unit;
the hinge angle sensor is arranged at a hinge structure of the front and rear vehicle bodies of the engineering operation equipment and is used for measuring a hinge angle between the front and rear vehicle bodies;
the steering motor sensor is connected with the steering motor to acquire the rotation angle of the steering motor in real time;
the steering motor power supply relay is connected with the steering motor and used for controlling a power supply switch of the steering motor;
the steering motor controller is connected with the steering motor sensor, and the rotation angle of the steering motor is acquired through the steering motor sensor; the steering motor controller is connected with the motor power supply relay and controls a power supply switch of the steering motor through the steering motor power supply relay; the steering motor controller is connected with the steering motor and outputs a driving signal to the steering motor to drive the steering motor to rotate;
the whole vehicle controller is connected with the hinge angle sensor, and the hinge angle between the front vehicle body and the rear vehicle body is acquired through the hinge angle sensor; the vehicle control unit is connected with the steering motor controller, acquires the current steering motor angle of the steering motor through the steering motor controller, and sends a target steering motor angle value to the steering motor controller.
The hinge structure of the front and rear vehicle bodies is as follows: the hinged part connected with the rear car body comprises an upper connecting plate, a lower connecting plate and a cylinder push rod connecting plate, a hinged column is arranged between the upper connecting plate and the lower connecting plate, the cylinder push rod connecting plate is horizontally arranged at the front end of the rear car body, the hinged part connected with the front car body comprises a shaft connecting plate and a side cylinder push rod 2, the shaft connecting plate is rigidly connected with the front car body and hinged with the hinged column, the side cylinder push rod is arranged at two sides of the shaft connecting plate, is driven by a cylinder to extend out of the front car body and is hinged to the cylinder push rod connecting plate of the rear car body, and the side cylinder push rod 2 pushes the cylinder push rod connecting plate of the rear car body under the driving of the cylinder to enable the rear;
in the technology of the hinge structure, the hinge angle sensor is arranged at the upper end of the hinge column and comprises a corner device, a middle line column and a clamping block, the corner device is coaxially arranged on the hinge column, one end of the middle line column is arranged at the middle line of the front vehicle body through the clamping block, the other end of the middle line column is connected with the corner device, and the rotation of the front vehicle body drives the middle line column to rotate around the hinge column so that the corner device collects the rotation angle between the front vehicle body and the rear vehicle body.
In the technical scheme, the communication mode between the vehicle control unit and the steering motor controller adopts a CAN bus to send CAN messages.
An automatic zero calibration method for a steering motor of unmanned engineering operation equipment is carried out according to the following steps:
step one, acquiring information of a front body articulation angle and a rear body articulation angle of engineering operation equipment and an angle of a steering motor, and mapping relation according to the calibrated articulation angle and the angle of the steering motor (steering motor zero offset is the current steering angle/n-articulation angle +90 of the steering motor)
And n is the proportional relation between the steering wheel angle and the hinge angle, namely the steering wheel angle/the hinge angle, the steering wheel angle range is (-600, 600), and the hinge angle range is (-35, 35).
And calculating a theoretical hinge angle corresponding to the angle of the steering motor, and calculating to obtain the zero offset of the theoretical hinge angle and the real hinge angle.
And step two, entering the execution operation of zero calibration when the zero offset exceeds a preset threshold, and otherwise, continuously calculating the zero offset.
And step three, when the zero offset exceeds a preset threshold value, taking the hinge angle of 90 degrees as a control target, using the whole vehicle controller to control the steering motor in a closed loop mode, wherein the steering motor control corner is (90-the current corner of the steering motor is p + the current corner of the steering motor), and p is a control parameter and is defined as constant 5 or 10 without dimension.
And step four, when the hinge angle of the front and rear vehicle bodies reaches a preset range, the axes of the front and rear vehicle bodies are basically in a straight line, and whether a zero calibration instruction is sent is judged. And monitoring the hinge angle in real time, when the hinge angle is in a range of (87 degrees and 93 degrees), the axes of the front and rear vehicle bodies are basically coincident, entering a zero calibration instruction sending link, and if the hinge angle is not in a target range, continuously executing closed-loop control operation.
And step five, after the control of the vehicle body is finished, sending a zero calibration instruction to the steering motor controller. And the vehicle control unit sends a zero calibration instruction to the steering motor controller.
And step six, judging whether the motor finishes the zero calibration operation of the steering motor or not according to the information fed back by the steering motor controller, if so, restarting the next step, and if not, continuously sending a zero calibration instruction through the whole vehicle controller to judge whether the current front rotary angle position is calibrated to be a zero position at the steering motor end according to the feedback state of the steering motor controller.
And step seven, disconnecting the power supply relay of the steering motor to restart the steering motor controller through the vehicle controller, and completing the zero calibration operation of the whole system.
And step eight, communicating a power supply relay of the steering motor through the vehicle control unit to complete the restarting operation of the steering motor.
The invention has the advantages and beneficial effects that:
the offset of the zero position and the positive direction of the vehicle body can be detected in real time in the driving process of the unmanned engineering operation equipment, and the zero position is calibrated again. The alignment of the zero position of the steering motor and the positions of the front and rear vehicle bodies is corresponding, so that the situation that the steering motor loses control capability due to overlarge zero offset caused by leakage and accumulation of a hydraulic steering system is avoided.
Drawings
Fig. 1 is a flowchart of an automatic zero calibration method for a steering motor of unmanned engineering operation equipment.
Fig. 2 is a schematic connection diagram of an automatic zero calibration device for a steering motor of unmanned engineering operation equipment.
Fig. 3 is a schematic view of a connection structure of a steering motor and a steering wheel.
Fig. 4 is a schematic diagram (side view) of the hinge structure of the front and rear bodies of the engineering operation equipment, namely a first hinge angle sensor installation diagram.
Fig. 5 is a schematic diagram (top view) of a hinge structure of the front and rear bodies of the engineering operation equipment, that is, a schematic diagram of mounting the hinge angle sensor.
Wherein: the steering wheel is 1, the rotating shaft is 1-1, the steering motor is 2, the front vehicle body is 3, the side cylinder push rod is 3-1, the shaft connecting plate is 3-2, the rear vehicle body is 4, the upper connecting plate is 4-1, the lower connecting plate is 4-2, the cylinder push rod connecting plate is 4-3, the hinge angle sensor is 5, the hinge column is 4-4, the clamping block is 5-1, the center line column is 5-2, and the steering device is 5-3.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the present invention is further described below with reference to specific examples.
An automatic zero calibration device for a steering motor of unmanned engineering operation equipment comprises a hinge angle sensor, a steering motor power supply relay, a steering motor controller and a vehicle control unit;
the hinge angle sensor is arranged at a hinge structure of the front and rear vehicle bodies of the engineering operation equipment and is used for measuring a hinge angle between the front and rear vehicle bodies;
the steering motor sensor and the steering motor are coaxially arranged, and the rotating angle of the steering motor is obtained in real time;
the steering motor power supply relay is connected with the steering motor and used for controlling a power supply switch of the steering motor;
the steering motor controller is connected with the steering motor sensor, and the rotation angle of the steering motor is acquired through the steering motor sensor; the steering motor controller is connected with the motor power supply relay and controls a power supply switch of the steering motor through the steering motor power supply relay; the steering motor controller is connected with the steering motor and outputs a driving signal to the steering motor to drive the steering motor to rotate;
the whole vehicle controller is connected with the hinge angle sensor, and the hinge angle between the front vehicle body and the rear vehicle body is acquired through the hinge angle sensor; the vehicle control unit is connected with the steering motor controller, acquires the current steering motor angle of the steering motor through the steering motor controller, and sends a target steering motor angle value to the steering motor controller.
The hinge structure of the front and rear vehicle bodies is as follows: the hinged part connected with the rear car body comprises an upper connecting plate, a lower connecting plate and a cylinder push rod connecting plate, a hinged column is arranged between the upper connecting plate and the lower connecting plate, the cylinder push rod connecting plate is horizontally arranged at the front end of the rear car body, the hinged part connected with the front car body comprises a shaft connecting plate and a side cylinder push rod 2, the shaft connecting plate is rigidly connected with the front car body and hinged with the hinged column, the side cylinder push rod is arranged at two sides of the shaft connecting plate, is driven by a cylinder to extend out of the front car body and is hinged to the cylinder push rod connecting plate of the rear car body, and the side cylinder push rod 2 pushes the cylinder push rod connecting plate of the rear car body under the driving of the cylinder to enable the rear;
in the technology of the hinge structure, the hinge angle sensor is arranged at the upper end of the hinge column and comprises a corner device, a middle line column and a clamping block, the corner device is coaxially arranged on the hinge column, one end of the middle line column is arranged at the middle line of the front vehicle body through the clamping block, the other end of the middle line column is connected with the corner device, and the rotation of the front vehicle body drives the middle line column to rotate around the hinge column so that the corner device collects the rotation angle between the front vehicle body and the rear vehicle body.
In the technical scheme, the communication mode between the vehicle control unit and the steering motor controller adopts a CAN bus to send CAN messages.
An automatic zero calibration method for a steering motor of unmanned engineering operation equipment is carried out according to the following steps:
the method comprises the steps of firstly, acquiring information of a front vehicle body hinged angle and a rear vehicle body hinged angle and a steering motor angle of engineering operation equipment, calculating a theoretical hinged angle corresponding to the steering motor angle according to a mapping relation between a calibrated hinged angle and the steering motor angle (the steering motor zero offset is the steering motor current rotation angle/n-hinged angle +90), and calculating to obtain the zero offset of the theoretical hinged angle and the real hinged angle.
And step two, entering the execution operation of zero calibration when the zero offset exceeds a preset threshold, and otherwise, continuously calculating the zero offset.
And step three, when the zero offset exceeds a preset threshold, taking the hinge angle of 90 degrees as a control target, using the whole vehicle controller to control the steering motor in a closed loop manner, wherein the steering motor control corner is (90-the current corner of the steering motor is p + the current corner of the steering motor), and p is a control parameter.
And step four, when the hinge angle of the front and rear vehicle bodies reaches a preset range, the axes of the front and rear vehicle bodies are basically in a straight line, and whether a zero calibration instruction is sent is judged. And monitoring the hinge angle in real time, when the hinge angle is in a range of (87 degrees and 93 degrees), the axes of the front and rear vehicle bodies are basically coincident, entering a zero calibration instruction sending link, and if the hinge angle is not in a target range, continuously executing closed-loop control operation.
And step five, after the control of the vehicle body is finished, sending a zero calibration instruction to the steering motor controller. And the vehicle control unit sends a zero calibration instruction to the steering motor controller.
And step six, judging whether the motor finishes the zero calibration operation of the steering motor or not according to the information fed back by the steering motor controller, if so, restarting the next step, and if not, continuously sending a zero calibration instruction through the whole vehicle controller to judge whether the current front rotary angle position is calibrated to be a zero position at the steering motor end according to the feedback state of the steering motor controller.
And step seven, disconnecting the power supply relay of the steering motor to restart the steering motor controller through the vehicle controller, and completing the zero calibration operation of the whole system.
And step eight, communicating a power supply relay of the steering motor through the vehicle control unit to complete the restarting operation of the steering motor.
Wherein the control system: the vehicle control unit is the most important part in the vehicle control unit and belongs to the role of the brain. The vehicle control unit is used for receiving and processing various sensor information including steering motor rotation angles, front and rear vehicle body hinge angle information and the like. And calculating and sending out control commands of the vehicle according to the information, wherein the control commands can be transmitted to a lower-layer controller and an actuator, such as a steering motor controller, and are used for executing steering commands sent by the vehicle controller, such as vibration commands, and the vehicle controller controls the relay to realize vibration or not through a driving interface.
EXAMPLE 3 related sensor
1. Motor angle sensor
The model number is: elobau 424A16A120
Steering motor angle sensor. The rotor windings are excited by an alternating signal and the output is from both stator windings. Since the stator is mechanically positioned to the correct angle, the output signal amplitude is related by the triangular sine and cosine of the shaft angle. The sine and cosine signals have the same phase as the original excitation signal; only its amplitude is modulated by sine and cosine with the rotation of the wheel axle.
2. Articulation angle sensor
The model is as follows: feibole BMV 100-R.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (4)
1. The utility model provides an unmanned engineering operation equipment turns to automatic zero-bit calibration device of motor which characterized in that: the steering control system comprises a hinge angle sensor, a steering motor power supply relay, a steering motor controller and a vehicle control unit;
the hinge angle sensor is arranged at a hinge structure of the front and rear vehicle bodies of the engineering operation equipment and is used for measuring a hinge angle between the front and rear vehicle bodies;
the steering motor sensor and the steering motor are coaxially arranged, and the rotating angle of the steering motor is obtained in real time;
the steering motor power supply relay is connected with the steering motor and used for controlling a power supply switch of the steering motor;
the steering motor controller is connected with the steering motor sensor, and the rotation angle of the steering motor is acquired through the steering motor sensor; the steering motor controller is connected with the motor power supply relay and controls a power supply switch of the steering motor through the steering motor power supply relay; the steering motor controller is connected with the steering motor and outputs a driving signal to the steering motor to drive the steering motor to rotate;
the whole vehicle controller is connected with the hinge angle sensor, and the hinge angle between the front vehicle body and the rear vehicle body is acquired through the hinge angle sensor; the vehicle control unit is connected with the steering motor controller, acquires the current steering motor angle of the steering motor through the steering motor controller, and sends a target steering motor angle value to the steering motor controller.
2. The unmanned engineering work equipment steering motor automatic zero calibration device of claim 1, characterized in that: the hinge structure of the front and rear vehicle bodies comprises a hinge part connected with the rear vehicle body, wherein the hinge part comprises an upper connecting plate, a lower connecting plate and a cylinder push rod connecting plate, a hinge column is arranged between the upper connecting plate and the lower connecting plate, the cylinder push rod connecting plate is horizontally arranged at the front end of the rear vehicle body, the hinge part connected with the front vehicle body comprises a shaft connecting plate and a side 2 cylinder push rod, the shaft connecting plate is rigidly connected with the front vehicle body and is hinged with the hinge column, the side cylinder push rod is arranged at two sides of the shaft connecting plate, is driven by a cylinder to extend out of the front vehicle body and is hinged to the cylinder push rod connecting plate of the rear vehicle body, and the side 2 cylinder push rod pushes the cylinder push rod connecting plate of the rear vehicle body; the articulated angle sensor is arranged at the upper end of the articulated column and comprises a corner device, a middle line column and a clamping block, the corner device is coaxially arranged on the articulated column, one end of the middle line column is arranged at the middle line of the front automobile body through the clamping block, the other end of the middle line column is connected with the corner device, and the rotation of the front automobile body drives the middle line column to rotate around the articulated column so that the corner device collects the rotation angle between the front automobile body and the rear automobile body.
3. The unmanned engineering work equipment steering motor automatic zero calibration device of claim 1, characterized in that: and the communication mode between the vehicle control unit and the steering motor controller adopts a CAN bus to send CAN messages.
4. An automatic zero calibration method for a steering motor of unmanned engineering operation equipment is characterized by comprising the following steps:
acquiring information of a front body hinge angle and a rear body hinge angle of engineering operation equipment and a steering motor angle, calculating a theoretical hinge angle corresponding to the steering motor angle according to a mapping relation between a calibrated hinge angle and the steering motor angle, and calculating to obtain a zero offset of the theoretical hinge angle and a real hinge angle;
step two, entering the execution operation of zero calibration when the zero offset exceeds a preset threshold value, and otherwise, continuously calculating the zero offset;
step three, when the zero offset exceeds a preset threshold value, using a whole vehicle controller to control the steering motor in a closed loop mode by taking the hinge angle of 90 degrees as a control target;
step four, when the hinge angle of the front and rear vehicle bodies reaches a preset range, the axes of the front and rear vehicle bodies are basically in a straight line, whether a zero calibration instruction is sent or not is judged, the hinge angle is monitored in real time, when the hinge angle is in a range of (87 degrees and 93 degrees), the axes of the front and rear vehicle bodies are basically overlapped, a zero calibration instruction sending link can be entered, and if the hinge angle is not in a target range, closed-loop control operation is continuously executed;
step five, after the control of the vehicle body is finished, a zero calibration instruction is sent to the steering motor controller, and the vehicle control unit sends a zero calibration instruction to the steering motor controller;
step six, judging whether the motor finishes the zero calibration operation of the steering motor according to the information fed back by the steering motor controller, if so, restarting the next step, and if not, continuously sending a zero calibration instruction through the whole vehicle controller to judge whether the current front rotary angle position is calibrated to be a zero position at the steering motor end according to the feedback state of the steering motor controller;
step seven, the power supply relay of the steering motor is disconnected to restart the steering motor controller through the whole vehicle controller, and the zero calibration operation of the whole system is completed;
and step eight, communicating a power supply relay of the steering motor through the vehicle control unit to complete the restarting operation of the steering motor.
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| CN111426289B (en) * | 2020-04-26 | 2022-07-12 | 上海元城汽车技术有限公司 | Zero calibration method and device based on extended-range power generation system, vehicle and medium |
| CN112407047A (en) * | 2020-10-27 | 2021-02-26 | 天津大学 | Method for observing and calibrating centering misalignment of unmanned hydraulic steering system |
| CN113063345B (en) * | 2021-04-07 | 2023-01-10 | 拿森汽车科技(杭州)有限公司 | Motor zero position angle calibration method and device and computer storage medium |
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| CN101758855B (en) * | 2010-02-01 | 2011-07-27 | 中国科学院合肥物质科学研究院 | Steering gear of unmanned vehicle and control method thereof |
| JP6278202B2 (en) * | 2014-10-29 | 2018-02-14 | マツダ株式会社 | Lane maintenance control device |
| KR101813963B1 (en) * | 2016-07-07 | 2018-01-03 | 현대모비스 주식회사 | Method for synchronization of mdps motor and motor position sensor and apparatus thererof |
| CN109541571B (en) * | 2018-12-29 | 2021-05-07 | 北京智行者科技有限公司 | EPS zero-offset and multi-line laser radar combined calibration method |
| CN109649490B (en) * | 2019-01-22 | 2020-07-07 | 广州小鹏汽车科技有限公司 | Automatic zero-offset calibration method and system for automobile steering wheel and vehicle |
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