CN112339882A - AGV moving platform system and method based on hub motor - Google Patents
AGV moving platform system and method based on hub motor Download PDFInfo
- Publication number
- CN112339882A CN112339882A CN202011077576.XA CN202011077576A CN112339882A CN 112339882 A CN112339882 A CN 112339882A CN 202011077576 A CN202011077576 A CN 202011077576A CN 112339882 A CN112339882 A CN 112339882A
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- Prior art keywords
- motor
- control unit
- vehicle control
- vcu
- control
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000011084 recovery Methods 0.000 abstract 1
- 238000005457 optimization Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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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
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/025—Modular vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
An AGV moving platform system and method based on a hub motor are provided with a vehicle control unit VCU, wherein the drive control end of the vehicle control unit VCU is respectively connected with four motor MCU controllers, and the output ends of the motor MCU controllers are respectively connected with a motor drive module; the VCU brake control end of the vehicle control unit is connected with a brake control module, and the steering control end is connected with a steering control module. The control method comprises the following steps: inputting task data; step two: sending a control instruction to a motor MCU controller, wherein the motor MCU controller sends a driving signal to a corresponding motor driving module according to the instruction; step three: the vehicle control unit VCU sends a braking instruction to the braking control module according to the task data to realize hub braking; step four: the vehicle control unit VCU detects the thrust of each driving motor in real time, if the thrust disappears, the driving motor enters a standby state; and (5) detecting the recovery of the thrust and continuing walking.
Description
Technical Field
The invention relates to the technical field of VGA trolleys, in particular to an AGV moving platform system and an AGV moving platform method based on a hub motor.
Background
AGV dolly: the present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, which can travel along a predetermined navigation route, and which has safety protection and various transfer functions. The industrial application does not need a carrying vehicle of a driver, and a rechargeable storage battery is used as a power source of the industrial application. The traveling path and behavior can be controlled by a computer, or the traveling path can be established by an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to the floor, and the unmanned transport vehicle moves and acts by the information brought by the electromagnetic track.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an AGV moving platform system and an AGV moving platform method based on a hub motor, which are convenient to control, high in intelligent degree, flexible to steer and suitable for various road conditions, and the specific technical scheme is as follows:
an AGV moving platform system based on a hub motor is provided with a vehicle control unit VCU, wherein the drive control end of the vehicle control unit VCU is respectively connected with at least four motor MCU controllers, and the output ends of the motor MCU controllers are respectively connected with a motor drive module; the VCU braking control end of the vehicle control unit is connected with a braking control module, and the steering control end is connected with a steering control module.
As an optimization: the vehicle control unit VCU's navigation control input is connected with navigation control module, and the anticollision input is connected with anticollision control module.
As an optimization: the vehicle control unit VCU communication end is connected with the remote communication module.
A method for an AGV moving platform system based on an in-wheel motor comprises the following steps:
the method comprises the following steps: inputting task data into a Vehicle Control Unit (VCU);
step two: the vehicle control unit VCU respectively sends control instructions to the motor MCU controller according to the task data, and the motor MCU controller sends driving signals to the corresponding motor driving modules according to the instructions to realize the control of the differential speed of the wheel hub and the control of the rotating direction of the wheel;
step three: the vehicle control unit VCU sends a braking instruction to the braking control module according to the task data to realize hub braking;
step four: the vehicle control unit VCU detects the thrust of each driving motor in real time, and if the thrust disappears, the vehicle control unit VCU sends out an instruction for reducing or stopping supplying power to the corresponding driving motor so as to enable the driving motor to enter a standby state; and when the thrust is detected to be recovered, the electric power is supplied to the corresponding driving motor, and the walking is continued.
As an optimization: in the second step, the control of the rotating direction of the wheel is specifically that firstly, a control instruction is sent out through a motor MCU to control the running speed of a hub motor and change the walking direction; and the steering motors on the front axle and the rear axle are controlled again, so that the precise control of the small radius is realized.
The invention has the beneficial effects that:
drawings
FIG. 1 is a schematic structural diagram of the present invention.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and will therefore make the scope of the invention more clearly and clearly defined.
As shown in fig. 1: an AGV moving platform system based on an in-wheel motor is provided with a vehicle control unit VCU, wherein the drive control end of the vehicle control unit VCU is respectively connected with four motor MCU controllers which are respectively a first motor MCU controller, a second motor MCU controller, a third motor MCU controller and a fourth motor MCU controller, and the output ends of the first motor MCU controller, the second motor MCU controller, the third motor MCU controller and the fourth motor MCU controller are respectively connected with a first motor driving module, a second motor driving module, a third motor driving module and a fourth motor driving module; the VCU brake control end of the vehicle control unit is connected with a brake control module, and the steering control end is connected with a steering control module. The vehicle control unit VCU's navigation control input end is connected with navigation control module, and the anticollision input end is connected with anticollision control module, vehicle control unit VCU communication end is connected with remote communication module. And a power management module is also arranged to supply power to each module.
The method for the AGV moving platform system based on the hub motor comprises the following steps:
the method comprises the following steps: inputting task data into a Vehicle Control Unit (VCU);
step two: the vehicle control unit VCU respectively sends control instructions to the motor MCU controller according to task data, the motor MCU controller sends driving signals to the corresponding motor driving modules according to the instructions to realize hub differential speed control and wheel rotation direction control, and the wheel rotation direction control is specifically that firstly, the motor MCU sends the control instructions to control the running speed of a hub motor and change the walking direction; controlling the steering motors on the front axle and the rear axle again to realize accurate control of the small radius;
step three: the vehicle control unit VCU sends a braking instruction to the braking control module according to the task data to realize hub braking;
step four: the vehicle control unit VCU detects the thrust of each driving motor in real time, and if the thrust disappears, the vehicle control unit VCU sends out an instruction for reducing or stopping supplying power to the corresponding driving motor so as to enable the driving motor to enter a standby state; and when the thrust is detected to be recovered, the electric power is supplied to the corresponding driving motor, and the walking is continued.
Claims (5)
1. The utility model provides a AGV moving platform system based on in-wheel motor which characterized in that: the vehicle control unit VCU is arranged, the drive control end of the vehicle control unit VCU is respectively connected with at least four motor MCU controllers, and the output ends of the motor MCU controllers are respectively connected with a motor drive module;
the VCU brake control end of the vehicle control unit is connected with a brake control module, and the steering control end is connected with a steering control module.
2. The AGV moving platform system according to claim 1, wherein: the vehicle control unit VCU's navigation control input is connected with navigation control module, and the anticollision input is connected with anticollision control module.
3. The AGV moving platform system according to claim 1, wherein: the vehicle control unit VCU communication end is connected with the remote communication module.
4. The method for an AGV in-wheel motor based AGV moving platform system of claim 1, further comprising the steps of:
the method comprises the following steps: inputting task data into a Vehicle Control Unit (VCU);
step two: the vehicle control unit VCU respectively sends control instructions to the motor MCU controller according to the task data, and the motor MCU controller sends driving signals to the corresponding motor driving modules according to the instructions to realize the control of the differential speed of the wheel hub and the control of the rotating direction of the wheel;
step three: the vehicle control unit VCU sends a braking instruction to the braking control module according to the task data to realize hub braking;
step four: the vehicle control unit VCU detects the thrust of each driving motor in real time, and if the thrust disappears, the vehicle control unit VCU sends out an instruction for reducing or stopping supplying power to the corresponding driving motor so as to enable the driving motor to enter a standby state; and when the thrust is detected to be recovered, the electric power is supplied to the corresponding driving motor, and the walking is continued.
5. The method of claim 4 in which: in the second step, the control of the rotating direction of the wheel is specifically that firstly, a control instruction is sent out through a motor MCU to control the running speed of a hub motor and change the walking direction; and the steering motors on the front axle and the rear axle are controlled again, so that the precise control of the small radius is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011077576.XA CN112339882A (en) | 2020-10-10 | 2020-10-10 | AGV moving platform system and method based on hub motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011077576.XA CN112339882A (en) | 2020-10-10 | 2020-10-10 | AGV moving platform system and method based on hub motor |
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| Publication Number | Publication Date |
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| CN112339882A true CN112339882A (en) | 2021-02-09 |
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| CN202011077576.XA Pending CN112339882A (en) | 2020-10-10 | 2020-10-10 | AGV moving platform system and method based on hub motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022286A (en) * | 2021-04-19 | 2021-06-25 | 安徽工程大学 | Full-line control omnidirectional vehicle chassis system and control method |
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| CN110481338A (en) * | 2019-07-23 | 2019-11-22 | 武汉理工大学 | A kind of hub motor vehicle disablement control method and entire car controller |
| CN110727279A (en) * | 2019-09-25 | 2020-01-24 | 武汉圣达电气股份有限公司 | AGV dolly control system |
| CN111152661A (en) * | 2020-01-21 | 2020-05-15 | 厦门金龙联合汽车工业有限公司 | Failure control method for electric drive system of four-wheel distributed drive passenger car |
| CN111290348A (en) * | 2019-12-18 | 2020-06-16 | 浙江工业大学 | Multi-load AGV control system capable of realizing omnidirectional movement and control method thereof |
| CN111746295A (en) * | 2019-03-29 | 2020-10-09 | 北京新能源汽车股份有限公司 | Distributed drive control method and device for electric automobile |
-
2020
- 2020-10-10 CN CN202011077576.XA patent/CN112339882A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045353A (en) * | 2017-06-06 | 2017-08-15 | 江苏力德尔电子信息技术有限公司 | All-around mobile AGV master control systems and its control method |
| CN111746295A (en) * | 2019-03-29 | 2020-10-09 | 北京新能源汽车股份有限公司 | Distributed drive control method and device for electric automobile |
| CN110481338A (en) * | 2019-07-23 | 2019-11-22 | 武汉理工大学 | A kind of hub motor vehicle disablement control method and entire car controller |
| CN110727279A (en) * | 2019-09-25 | 2020-01-24 | 武汉圣达电气股份有限公司 | AGV dolly control system |
| CN111290348A (en) * | 2019-12-18 | 2020-06-16 | 浙江工业大学 | Multi-load AGV control system capable of realizing omnidirectional movement and control method thereof |
| CN111152661A (en) * | 2020-01-21 | 2020-05-15 | 厦门金龙联合汽车工业有限公司 | Failure control method for electric drive system of four-wheel distributed drive passenger car |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113022286A (en) * | 2021-04-19 | 2021-06-25 | 安徽工程大学 | Full-line control omnidirectional vehicle chassis system and control method |
| CN113022286B (en) * | 2021-04-19 | 2023-12-05 | 安徽工程大学 | Full-line-control omnidirectional vehicle chassis system and control method |
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Application publication date: 20210209 |