CN111003058A - Zero-position calibration unmanned steering engine and control method - Google Patents
Zero-position calibration unmanned steering engine and control method Download PDFInfo
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- CN111003058A CN111003058A CN201911399017.8A CN201911399017A CN111003058A CN 111003058 A CN111003058 A CN 111003058A CN 201911399017 A CN201911399017 A CN 201911399017A CN 111003058 A CN111003058 A CN 111003058A
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- push rod
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- wheel
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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
-
- 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
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a zero-position calibration unmanned steering engine and a control method thereof, which comprises an infrared sensor, a ball bearing, a stepping motor, a push rod and a singlechip system, wherein the stepping motor drives the push rod, the push rod stretches the wheel to rotate, and infrared sensing signals are adopted to determine the zero position of the wheel.
Description
Technical Field
The invention belongs to the field of automatic control systems, and particularly relates to a zero calibration unmanned steering engine and a control method thereof.
Background
An electric power steering system (EPS for short) is used for unmanned steering, the system drives a steering shaft through a direct current motor, then rotates a steering connecting rod to achieve the purpose of rotating wheels, then feeds back the current rotation angle through an angle sensor, and sends out the rotation angle parameter by using an analog signal or CAN communication. The EPS has small rotation error, but the motor power is large, generally about 200W, the volume is large, the price is high, and the EPS is not convenient to popularize generally. Therefore, the appearance of a new steering system for driving, which is small in size, low in power consumption and low in cost, is urgently needed.
Disclosure of Invention
The invention aims to realize unmanned driving on a small electric four-wheel scooter, and provides a zero calibration unmanned steering engine and a control method thereof.
The purpose of the invention can be realized by the following technical scheme:
the invention discloses a zero calibration unmanned steering engine which comprises wheels, a wheel rotating shaft, an infrared laser emitting end, a frame, an infrared laser receiving end, a push rod motor and a single chip microcomputer system, wherein the wheels are rotationally fixed at two ends of the wheel rotating shaft;
the push rod motor comprises a ball bearing, a stepping motor and a push rod, the stepping motor is connected with the tail end of the push rod through gear transmission, and the head end of the push rod is rotatably connected with the wheel rotating shaft through the ball bearing;
the single chip microcomputer system comprises: the device comprises a zero calibration module, a stepping motor module, a push rod module and a control module; the zero calibration module inputs signals to the control module and controls the push rod module to perform zero calibration through the stepping motor.
Furthermore, the automatic calculation of the pulse number to be output by the single chip microcomputer specifically comprises the following steps:
1) the right turning angle a, the length of the fixed point of the push rod from the central point of the two wheels is c, the push-out length of the push rod is b, then
The zero calibration unmanned steering engine of claim 1, wherein the zero calibration module transmits the zero position signal to the single chip via an infrared laser transmitting end and an infrared laser receiving end via an optoelectronic signal.
Furthermore, the stepping motor module sends PWM to control the rotating speed and the rotating angle of the stepping motor through the single chip microcomputer, and the control of the rotating speed and the rotating angle during the rotating process is realized.
Furthermore, the push rod module is that the tail end of the push rod is connected with a stepping motor shaft through a gear and a toothed belt, the rotation of the motor is converted into the lifting and shrinking of the push rod, the head end of the push rod is connected to a wheel rotating shaft through a ball bearing, and the lifting and shrinking of the push rod is converted into the left-right steering of the wheel.
Furthermore, the control module receives the electric signal of the infrared sensor, which represents that the wheel is at the zero position at the moment, and clears the PWM control signal of the stepping motor at the moment, and controls the speed and the angle of steering by controlling the frequency and the pulse number of PWM by taking the position as a starting point.
A control method for a zero calibration unmanned steering gear comprises the following steps:
the method comprises the following steps: wheel return to zero
S1, taking the parallel of wheels as a zero point position, and fixing the transmitting end of an infrared sensor on a steering shaft or a steering connecting rod of the wheels to enable the infrared sensor to move infrared light spots along with the rotation of the wheels;
s2, driving a stepping motor to rotate forwards, driving the stepping motor to rotate backwards when the infrared sensor signal is not detected before the stepping motor rotates forwards to an upper limit position, and when wheels on two sides are in parallel positions, an infrared light spot is just irradiated on a receiver, at the moment, the infrared sensor sends an electric signal to a single chip microcomputer, the single chip microcomputer obtains a signal that the wheels are in a zero position, at the moment, the output of PWM and the forward and reverse rotation signals of the motor are stopped, and at the moment, the whole special mechanism is in the zero position;
step two: controlling steering
S1, when the right-hand rotation is required to be a degrees,
s2, automatically calculating the pulse number required to be output by the singlechip;
s3, outputting the corresponding pulse number by the single chip microcomputer;
and S4, driving the motor to rotate positively.
Furthermore, the automatic calculation of the pulse number to be output by the single chip microcomputer specifically comprises the following steps:
1) the right turning angle a, the length of the fixed point of the push rod from the central point of the two wheels is c, the push-out length of the push rod is b, then
2) The stepping motor adopts a stepping motor with an inherent stepping angle of 1.8 degrees, and the stepping angle under subdivision is
The motor rotates for one circle for 800 pulses, the radius of the motor gear is d, the circumference L is 2 pi d, and then one pulse gear rotates
The reduction ratio of the motor gear to the push rod gear is 1: 1, the relationship between the rotation angle and the pulse number w is
The invention has the beneficial effects that:
(1) an infrared sensor is used as the zero-comparison sensor. The infrared sensor has the characteristics of low cost, simple modification and good induction effect, the diameter of an infrared light spot is 1mm, and a light hole with the diameter of 0.5mm is additionally arranged at the rear stage of infrared emission, so that the diameter of the light spot can be reduced to 0.5 mm. Increase 0.5 mm's light trap at receiving the preceding stage like this, can reduce the area of receiving of 2mm diameter originally to 0.5mm, originally like this turn left and turn right 4 mm's that exist more and reduce to 1 mm.
(2) A stepping motor is adopted as a steering driving motor. The steering angle and the steering speed are controllable, and the forward and reverse rotation are controlled. Driven by a two-phase stepping motor. The forward and reverse rotation control can be realized, 7-gear subdivision control (1,2/A,2/B,4,8,16, 32) is selected through the 3-bit dial switch, and 8-gear current control (0.5A, 1A, 1.5A, 2A, 2.5A, 2.8A,3.0A and 3.5A) is selected through the 3-bit dial switch. It is suitable for driving 57, 42 type two-phase and four-phase hybrid stepping motors. The motor can be driven by the motor with the effects of low vibration, small noise and high speed. The input voltage DC9-40V is wide in voltage input, and is suitable for unmanned trolleys with different battery models.
(3) The push rod is used as a steering transmission mechanism. The method has the characteristics of simple connection and low cost. For trolleys with different widths, only the stroke of the push rod needs to be changed.
(4) And a single chip microcomputer is adopted for signal receiving and output processing. The singlechip can handle us level's signal of telecommunication, can in time stop PWM's output when receiving infrared more zero signal, reduces the less zero error of wheel. The output PWM signal frequency is up to KHz level.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the present invention.
Detailed Description
Referring to fig. 1-2, a zero calibration unmanned steering engine comprises a wheel 1, a wheel rotating shaft 2, an infrared laser emitting end 3, a frame 4, an infrared laser receiving end 5, a push rod motor 6 and a single chip microcomputer system, wherein the wheel 1 is rotationally fixed at two ends of the wheel rotating shaft 2, the frame 4 is rotationally fixed at the central position of the wheel rotating shaft 2 through the rotating shaft, the infrared laser receiving end 5 is fixed on the frame 4, the infrared laser emitting end 3 is fixed on the wheel rotating shaft 2, the infrared laser emitting end 3 is close to one end of the wheel rotating shaft 2, the tail end of the push rod motor 6 is fixed, the head end is rotationally fixed on the wheel rotating shaft 2, the head end of the push rod motor 6 is close to one end of the wheel rotating shaft 2, which is not the infrared laser emitting end 3, and the push rod motor 6, the;
the push rod motor 6 comprises a ball bearing, a stepping motor and a push rod, the stepping motor is connected with the tail end of the push rod through gear transmission, and the head end of the push rod is rotationally connected with the wheel rotating shaft 2 through the ball bearing;
the singlechip system includes: the device comprises a zero calibration module, a stepping motor module, a push rod module and a control module.
The zero calibration module transmits a specific zero position signal to the single chip microcomputer through the infrared laser transmitting end 3 and the infrared laser receiving end 5 through photoelectric signals.
The stepping motor module sends PWM to control the rotating speed and the rotating angle of the stepping motor through the single chip microcomputer, and the control of the rotating speed and the rotating angle during the rotating is realized.
The push rod module is that the tail end of the push rod is connected with a stepping motor shaft through a gear and a toothed belt, the rotation of the motor is converted into the lifting and shrinking of the push rod, the head end of the push rod is connected to the wheel rotating shaft 2 through a ball head bearing, and the lifting and shrinking of the push rod is converted into the left-right steering of the wheel 1.
The control module receives the electric signal of the infrared sensor, represents that the wheel is in a zero position at the moment, clears the PWM control signal of the stepping motor at the moment, and controls the speed and the angle of steering by controlling the frequency and the pulse number of PWM by taking the position as a starting point.
A control method for a zero calibration unmanned steering gear specifically comprises the following steps:
the method comprises the following steps: wheel return to zero
S1, taking the parallel of wheels as a zero point position, and fixing the transmitting end of an infrared sensor on a steering shaft or a steering connecting rod of the wheels to enable the infrared sensor to move infrared light spots along with the rotation of the wheels;
s2, driving the stepping motor to rotate forwards, driving the stepping motor to rotate backwards if no infrared sensor signal is detected before the stepping motor rotates forwards to an upper limit position, enabling infrared light spots to just irradiate on the receiver when wheels on two sides are in parallel positions, sending an electric signal to the single chip microcomputer by the infrared sensor at the moment, obtaining a signal that the wheels are in a zero position by the single chip microcomputer, stopping PWM output and the motor forward and reverse rotation signal at the moment, and enabling the whole special mechanism to be in the zero position at the moment.
Step two: controlling steering
S1, when the right-hand rotation is needed to be performed at an angle of x degrees,
s2, automatically calculating the pulse number required to be output by the singlechip;
s3, outputting the corresponding pulse number by the single chip microcomputer;
and S4, driving the motor to rotate positively.
When the wheel rotates left and right, the driving motor needs to rotate forwards or backwards depending on the installation mode of the push rod, and the rotating direction of the driving motor is not unique.
The steering system is calibrated by advancing the steering to a zero position before each actuation of the steering. When the wheels rotate from the left side to the right side or the right side rotates to the left side, the single chip microcomputer clears the pulse number through the zero position and calculates the required pulse number from the zero position again, so that the pulse counting error caused by an overlarge steering angle is prevented, and the steering error is reduced.
As shown in fig. 2, the principle of the single chip microcomputer is as follows:
1) the right turning angle a, the length of the fixed point of the push rod from the center point of two wheels is c, the push-out length of the push rod is b, then the formula is given
2) The stepping motor adopts a stepping motor with an inherent stepping angle of 1.8 degrees, and the stepping angle is 1 under 4 subdivisions
The motor rotates for 800 pulses, the radius of the motor gear is d, the circumference L is 2 pi d, and one pulse gear rotates
The reduction ratio of the motor gear to the push rod gear is 1: 1, the relationship between the rotation angle and the pulse number w is
The reduction ratios of the stepping motor, the motor gear and the push rod gear are not only used for illustration and description, the reduction ratios of the stepping motor, the motor gear and the push rod gear can be selected according to actual use conditions, and each selected parameter is replaced according to the actual use conditions.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (8)
1. The utility model provides a zero-position calibration unmanned steering engine, includes wheel (1), wheel pivot (2), infrared laser emission end (3), frame (4), infrared laser receiving end (5), push rod motor (6) and single chip microcomputer system, its characterized in that, wheel (1) rotates and is fixed in wheel pivot (2) both ends, frame (4) rotate through the pivot and are fixed in wheel pivot (2) central point and put, infrared laser receiving end (5) are fixed in on frame (4), infrared laser emission end (3) are fixed in on wheel pivot (2) and infrared laser emission end (3) are close to wheel pivot (2) one end position, push rod motor (6) end is fixed, and the head end rotates and is fixed in on wheel pivot (2) and push rod motor (6) head end is close to the one end of wheel pivot (2) non-infrared laser emission end (3), the push rod motor (6), the infrared laser transmitting end (3) and the infrared laser receiving end (5) are electrically connected with the single chip microcomputer system;
the push rod motor (6) comprises a ball bearing, a stepping motor and a push rod, the stepping motor is connected with the tail end of the push rod through gear transmission, and the head end of the push rod is rotatably connected with the wheel rotating shaft (2) through the ball bearing;
the single chip microcomputer system comprises: the device comprises a zero calibration module, a stepping motor module, a push rod module and a control module; the zero calibration module inputs signals to the control module and controls the push rod module to perform zero calibration through the stepping motor.
2. The null steering engine according to claim 1, wherein the singlechip automatically calculates the number of pulses to be output, specifically:
1) the right turning angle a, the length of the fixed point of the push rod from the central point of the two wheels is c, the push-out length of the push rod is b, then
3. The steering engine of claim 1, wherein the zero calibration module transmits the zero position signal to the single chip via the infrared laser emitting end (3) and the infrared laser receiving end (5) via the photoelectric signal.
4. The steering engine with zero calibration of claim 1, wherein the step motor module is used for controlling the rotation speed and the rotation angle of the step motor by sending PWM through the single chip microcomputer, so as to control the steering speed and the steering angle during steering.
5. The null alignment steering system as claimed in claim 1, wherein the push rod module is a push rod module, the tail end of the push rod is connected with a stepping motor shaft through a gear and a toothed belt, the rotation of the motor is converted into the lifting and the contracting of the push rod, the head end of the push rod is connected with the wheel rotating shaft (2) through a ball bearing, and the lifting and the contracting of the push rod are converted into the left and right steering of the wheel (1).
6. The null steering system according to claim 1, wherein the control module receives an electrical signal from the infrared sensor, indicating that the wheel is at the null position, clearing the PWM control signal of the stepping motor, and controls the speed and angle of steering by controlling the frequency and number of pulses of the PWM signal from the null position.
7. The control method for the null steering system of claim 1, comprising the steps of:
the method comprises the following steps: wheel return to zero
S1, taking the parallel of wheels as a zero point position, and fixing the transmitting end of an infrared sensor on a steering shaft or a steering connecting rod of the wheels to enable the infrared sensor to move infrared light spots along with the rotation of the wheels;
s2, driving a stepping motor to rotate forwards, driving the stepping motor to rotate backwards when the infrared sensor signal is not detected before the stepping motor rotates forwards to an upper limit position, and when wheels on two sides are in parallel positions, an infrared light spot is just irradiated on a receiver, at the moment, the infrared sensor sends an electric signal to a single chip microcomputer, the single chip microcomputer obtains a signal that the wheels are in a zero position, at the moment, the output of PWM and the forward and reverse rotation signals of the motor are stopped, and at the moment, the whole special mechanism is in the zero position;
step two: controlling steering
S1, when the right-hand rotation is required to be a degrees,
s2, automatically calculating the pulse number required to be output by the singlechip;
s3, outputting the corresponding pulse number by the single chip microcomputer;
and S4, driving the motor to rotate positively.
8. The control method for the null-position calibration unmanned steering gear according to claim 7, wherein the singlechip automatically calculates the number of pulses required to be output, and specifically comprises the following steps:
1) the right turning angle a, the length of the fixed point of the push rod from the central point of the two wheels is c, the push-out length of the push rod is b, then
2) The stepping motor adopts a stepping motor with an inherent stepping angle of 1.8 degrees, and the stepping angle under subdivision is
The motor rotates for one circle for 800 pulses, the radius of the motor gear is d, the circumference L is 2 pi d, and then one pulse gear rotates
The reduction ratio of the motor gear to the push rod gear is 1: 1, the relationship between the rotation angle and the pulse number w is
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911399017.8A CN111003058A (en) | 2019-12-30 | 2019-12-30 | Zero-position calibration unmanned steering engine and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911399017.8A CN111003058A (en) | 2019-12-30 | 2019-12-30 | Zero-position calibration unmanned steering engine and control method |
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| CN111003058A true CN111003058A (en) | 2020-04-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112051844A (en) * | 2020-08-17 | 2020-12-08 | 尚科宁家(中国)科技有限公司 | Self-moving robot and control method thereof |
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| JP2006001547A (en) * | 2005-08-29 | 2006-01-05 | Nissan Motor Co Ltd | Steering device for vehicle |
| CN101716953A (en) * | 2009-11-17 | 2010-06-02 | 北京科技大学 | Control model for electrical power steering system |
| CN202889274U (en) * | 2012-06-29 | 2013-04-17 | 上海理工大学 | Controller for stepping motor |
| CN104002861A (en) * | 2014-05-26 | 2014-08-27 | 武汉理工大学 | Steering device of intelligent vehicle and control method thereof |
| CN109795548A (en) * | 2019-03-21 | 2019-05-24 | 石河子大学 | A kind of motor push rod type power steering apparatus |
-
2019
- 2019-12-30 CN CN201911399017.8A patent/CN111003058A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006001547A (en) * | 2005-08-29 | 2006-01-05 | Nissan Motor Co Ltd | Steering device for vehicle |
| CN101716953A (en) * | 2009-11-17 | 2010-06-02 | 北京科技大学 | Control model for electrical power steering system |
| CN202889274U (en) * | 2012-06-29 | 2013-04-17 | 上海理工大学 | Controller for stepping motor |
| CN104002861A (en) * | 2014-05-26 | 2014-08-27 | 武汉理工大学 | Steering device of intelligent vehicle and control method thereof |
| CN109795548A (en) * | 2019-03-21 | 2019-05-24 | 石河子大学 | A kind of motor push rod type power steering apparatus |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112051844A (en) * | 2020-08-17 | 2020-12-08 | 尚科宁家(中国)科技有限公司 | Self-moving robot and control method thereof |
| CN112051844B (en) * | 2020-08-17 | 2023-08-04 | 尚科宁家(中国)科技有限公司 | Self-moving robot and control method thereof |
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