CN113479259A - Three-degree-of-freedom steering method and system - Google Patents
Three-degree-of-freedom steering method and system Download PDFInfo
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- CN113479259A CN113479259A CN202110936810.8A CN202110936810A CN113479259A CN 113479259 A CN113479259 A CN 113479259A CN 202110936810 A CN202110936810 A CN 202110936810A CN 113479259 A CN113479259 A CN 113479259A
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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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Abstract
A three-degree-of-freedom steering method and a three-degree-of-freedom steering system comprise a control system, a frame, a power motor, a steering wheel set and a driving wheel set; the driving wheel set comprises a first driving wheel, a second driving wheel and a differential mechanism, an output shaft of the power motor is connected with an input shaft of the differential mechanism through a coupler, and an output shaft of the differential mechanism is respectively connected with a first driving wheel shaft and a second driving wheel shaft through a coupler; the steering wheel set comprises a first steering wheel, a second steering wheel, a first steering motor and a second steering motor; the first steering wheel shaft is connected with the output shaft of the first steering motor through a coupler, and the second steering wheel shaft is connected with the output shaft of the second steering motor through a coupler; and the control system adjusts the rotating speeds of the power motor, the first steering motor and the second steering motor through pwm waves. The invention can improve the power of the whole vehicle by taking the power motor as main power output and the steering motor as the layout of steering action, thereby improving the speed of the whole vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle engineering, in particular to a three-degree-of-freedom steering method and a three-degree-of-freedom steering system.
Background
Nowadays, off-road robots are increasingly used for performing dangerous tasks such as fire fighting, disaster relief, terrain detection and the like, and a steering system is taken as a key point of the chassis design of the robot and directly determines the flexibility and the success or failure of the task of the robot.
The existing cross-country robot mainly adopts a speed difference mode to realize the flexibility of a vehicle, although the existing cross-country robot has certain flexibility, the speed is generally slower, and the speed cannot be increased because the power is disassembled by a plurality of engines. This is also the reason why tanks that also rely on differential rotation speed for steering do not have two engines to simplify the structure; because the power of the next prime motor with the same mass is far larger than that of the two prime motors, in comparison, the output power of the double-flow transmission differential mechanism with very low mechanical efficiency is larger than that of the two engines even if a complex double-flow transmission differential mechanism is used, but the cross-country robot is not suitable for using the complex double-flow transmission differential mechanism, so the total power is low, and the running speed is slow.
In order to achieve the characteristic of powerful power, the invention provides a novel vehicle steering system and a novel vehicle steering method, so that the vehicle can improve the power and has the powerful power, and high-speed operation is achieved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a three-degree-of-freedom steering method and a three-degree-of-freedom steering system, so that a vehicle can improve power and has strong power, thereby achieving the characteristic of high-speed operation.
In order to achieve the purpose, the invention adopts the following technical scheme:
a three-degree-of-freedom steering system comprises a control system, a frame, a power motor, a steering wheel set and a driving wheel set;
the driving wheel set comprises a first driving wheel, a second driving wheel and a differential mechanism, an output shaft of the power motor is connected with an input shaft of the differential mechanism through a coupler, and an output shaft of the differential mechanism is respectively connected with a first driving wheel shaft and a second driving wheel shaft through a coupler;
the steering wheel set comprises a first steering wheel, a second steering wheel, a first steering motor and a second steering motor; the first steering wheel shaft is connected with the output shaft of the first steering motor through a coupler, and the second steering wheel shaft is connected with the output shaft of the second steering motor through a coupler;
the control system adjusts the rotating speed of the power motor, the first steering motor and the second steering motor through pwm waves;
and the control system, the power motor, the differential, the first steering motor and the second steering motor are all arranged on the frame.
In order to optimize the technical scheme, the specific measures adopted further comprise:
further, the number of the driving wheel sets is more than or equal to 1, and the differential mechanism of each group of driving wheel sets is adapted to the power motor;
the number of the steering wheel sets is greater than or equal to 1.
Further, the power of the power motor is more than 10 times of the power of the steering motor.
Further, the power motor and the steering motor adopt direct current motors or stepping motors.
Further, the locking coefficient K =1.05~1.3 or K =1.4~1.5 of differential mechanism.
Further, when the vehicle travels straight, the first steering motor speed = the second steering motor speed = the first driving wheel speed = the second driving wheel speed = the power motor speed/differential gear ratio.
Further, a three-degree-of-freedom steering method based on the system according to any one of claims 1-6,
when the vehicle turns left, the rotating speed of the first steering motor is less than that of the second steering motor, the power motor continuously outputs power, and the differential mechanism provides differential speed between the first driving wheel and the second driving wheel, so that the vehicle turns left;
when the vehicle turns right, the rotating speed of the first steering motor is greater than that of the second steering motor, the power motor continuously outputs power, and the differential mechanism provides differential speed between the first driving wheel and the second driving wheel; enabling the vehicle to realize right turning;
when the vehicle is in-situ steered, the power motor stops outputting, the rotating speed of the first steering motor is opposite to that of the second steering motor, and the rotating speed of the first steering motor is the same as that of the second steering motor, so that differential speed is formed between the first steering wheel and the second steering wheel, and the vehicle is in-situ steered.
The invention has the beneficial effects that:
1. compared with the existing cross-country robot vehicle, the power of the power motor in the invention is usually more than 10 times of the power of the steering motor, and the power of the whole vehicle can be improved by taking the power motor as main power output and the steering motor as a layout for steering action, so that the speed of the whole vehicle is improved; the problem that the existing vehicle cannot be accelerated well can be solved through simple layout, and the method has a wide application prospect.
2. Meanwhile, the vehicle achieves the characteristics of high flexibility and powerful power (large power), has the functions of almost randomly changing the steering radius and the steering center compared with a four-wheel differential vehicle, and can realize flexible steering of the vehicle through the synergistic action of a steering motor, a driving wheel set, a steering wheel set, a control system and the like.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic plan view of the overall structure of the present invention.
FIG. 3 is a schematic diagram of the present invention for calculating individual wheel forward speeds.
In the figure, 1, a first driving wheel, 2, a second driving wheel, 3, a differential mechanism, 4, a first steering wheel, 5, a second steering wheel, 6, a first steering motor, 7, a second steering motor, 8, a power motor, 9, a total vector direction speed of wheels, 10, a wheel advancing speed, 11, a frame, 12 and a steering center.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings.
The invention relates to a three-degree-of-freedom steering method and a three-degree-of-freedom steering system, and provides the following technical contents:
when the vehicle runs straight, the four wheels (the first driving wheel 1, the second driving wheel 2, the first steering wheel 4 and the second steering wheel 5) have the same rotating speed (the wheels have the same size), and the rotating speed of the power motor 8 is determined by the transmission ratio in the differential mechanism 3; when the vehicle turns left, the first steering motor 6 on the left decelerates, and the differential 3 provides differential speed, so that the vehicle turns left; the same applies to the right turn. If pivot steering is required, a differential speed is directly provided between the first steering motor 6 and the second steering motor 7, and the power motor 8 does not rotate. Steering can be performed with the front wheel axle center (the midpoint of the center of the first steered wheel center and the center of the second steered wheel center) as the steering center 12 (if the ratio of the wheel base to the wheel base is small, the steering center is at the center of the wheel base of the vehicle);
in the scheme, 3 motors are arranged in total and are fixed on the frame 11, wherein two small-power motors (a first steering motor 6 and a second steering motor 7) are used for steering (providing torque required by the differential mechanism 3 for providing a rotating speed difference), and a large-power motor (a power motor 8) is used for providing power.
The first steering motor 6 and the second steering motor 7 are respectively connected with the first steering wheel 4 shaft and the second steering wheel 5 shaft through a coupler, the power motor 8 is connected with the differential mechanism 3 input shaft through a coupler, and the differential mechanism 3 output shaft is connected with the rear wheel shaft (the first driving wheel 1 shaft and the second driving wheel 2 shaft) through a coupler.
When the reduction motors (the first steering motor 6 and the second steering motor 7) are used, the wheel rotation speed or the input shaft rotation speed of the differential 3 is determined by the reduction motor output shaft (refer to the content of the steering center 12 below).
The vehicle chassis may have no specific front-rear part, i.e. the wheels driven by the differential 3 half-shafts may also be front wheels. The steering structure is difficult to place the steering center near the center of the driving wheel shaft because the rear wheel cannot be used for providing the steering freedom degree, but the common four-wheel differential structure rarely uses the point as the steering center, and when the point is used as the steering center, the transverse displacement of the front wheel is large, and the wheels are seriously worn.
The control system is controlled by PWM waves, and nonlinear factors in steering from a steering engine to wheels in a car-like model are avoided. The control system comprises a controller and a driving module, and the controller is determined according to project requirements. The small project controller can directly adopt a single chip microcomputer, outputs PWM waves in a hardware mode like STM32, NXP series and the like commonly used in the industry, and transmits the PWM waves to the motor through the driving module. If the project has high requirements on algorithm and real-time performance, such as machine vision and real-time data transmission, a processor can be used as a controller, and nowadays, bramble pies, English-Viida Jetson series kits special for vision, and the like output PWM waves in a software mode and transmit the PWM waves to a motor through a driving module. The driving module is commonly available as L298N, IR2104S, etc. Because the L298N has the problems of serious heat generation, current tolerance and insufficient power when driving a high-voltage motor, a MOS transistor driving circuit is generally adopted, such as an IR2104S chip building circuit which is commonly used by people.
When the requirement on the steering precision is low, the motors (the power motor 8, the first steering motor 6 and the second steering motor 7) use common direct current motors, the speed is regulated based on PWM waves, and when the requirement on the steering precision is high, a stepping motor can be used.
The geometric center of the wheel can be provided with an encoder for closed-loop control, the speed of each wheel can be obtained in real time according to the encoder, and when the vehicle turns, the rotating speeds of the power motor 8 and the steering motors (the first steering motor 6 and the second steering motor 7) can be adjusted according to the speed of the wheel, so that the speed of the wheel is in an optimal critical value, and the best steering effect is achieved.
When the vehicle runs straight (the diameters of the four wheels of the first steering wheel, the second steering wheel, the first driving wheel and the second driving wheel are the same), the rotating speed of the first steering motor 6 = the rotating speed of the second steering motor 7 = the rotating speed of the power motor 8/the transmission ratio of the differential mechanism 3, and if balancing is difficult, the front wheel and the rear wheel can be set to be different in diameter so as to obtain the same linear speed.
The power of the power motor 8 is usually more than ten times that of the steering motor.
The 3 degrees of freedom in the turn-around scheme are represented in, 1: the wheel can move back and forth, 2: the wheel can be steered at any radius, 3: the steering center of the wheel can move back and forth.
If the driver wants to go off-road, the limited slip differential is used. The locking coefficient K of the differential mechanism 3 needs to be smaller, and the smaller K is, the larger the maximum value of the allowable value of the power ratio of the power motor 8 to the power of the steering motor is (the mechanical efficiency is also improved to a certain extent); when the vehicle is used for running in a relatively ideal state such as a flat ground, the locking coefficient K = 1.05-1.3, and when the vehicle is used for running in an environment such as a cross country, the locking coefficient K = 1.4-1.5, and preferably no limited slip differential is used.
The number of the driving wheel sets and the number of the steering wheel sets can be increased, if the steering wheel sets can be increased with higher requirements on steering flexibility, the number of the driving wheel sets can also be increased, but the differentials of each driving wheel set are all adapted to the same power motor 8 (the adaptation mode is the same as that of the prior art, generally, three interfaces of the differentials are adopted, when only one driving wheel set is provided, the input interface of the differential is connected with the output shaft of the power motor, the other two interfaces of the differential are connected with the first driving wheel shaft and the second driving wheel shaft, when two driving wheel sets are provided, 3 differentials are needed, the output shaft of the power motor is connected with the input interface of the first differential, the two output interfaces of the first differential are respectively connected with the input interface of the second differential and the input interface of the third differential, and the two output interfaces of the second differential and the two output interfaces of the third differential are respectively connected with the first driving wheel and the second driving wheel, a plurality of driving wheel sets can be added by one analogy, but the driving wheel sets are all adapted to the same power motor). When the vehicle uses six wheels, if the requirement on flexibility is low, the front two wheels are still driven by a steering motor, and the two conditions are divided into two conditions, if the requirement on power is low, the middle two wheels can have no input, and the rear two wheels can use a power motor for input; if the requirement for power is high, three differentials are used for transmitting the power to the rear four wheels. When the requirement on flexibility is high, the two front wheels and the two last wheels are input by the steering motors, the steering center can be near the center of a front wheel shaft of the vehicle, near the center of a rear wheel shaft of the vehicle and easily steered at the center of the vehicle (the resisting moment is reduced) like a four-wheel differential model, and the eight-wheel vehicle is similar to the eight-wheel vehicle and only utilizes more differentials to improve the total ground force.
Referring to fig. 1-2, a three-degree-of-freedom steering system and method includes a first driving wheel 1, a second driving wheel 2, a differential 3, a first steering wheel 4, a second steering wheel 5, a first steering motor 6, a second steering motor 7, a power motor 8, and a frame 11. Fig. 1 is an example only, the number of wheels may not be limited to four, and the power motor 8 may transmit power to the front wheels (when the steering motor powers the rear wheels).
When the wheels normally turn left, the sum of the speeds of the first steering wheel 4 and the second steering wheel 5 (i.e., the sum of the speeds of the front wheels) = the sum of the speeds of the first driving wheel 4 and the second driving wheel 2 (i.e., the sum of the speeds of the rear wheels), the left first steering motor 6 decelerates, and the generated torque causes the clutch to provide a differential speed, thereby turning the vehicle to the left. (in this case, the steering center is on the transverse line of the vehicle structure center, the steering radius depends on the differential speed, if the steering center is ahead of (behind) the transverse line of the vehicle structure center, the difference of the rotating speeds of the front wheels and the rear wheels, namely the third degree of freedom, needs to be changed, if the sum of the speeds of the first steering wheel 4 and the second steering wheel 5 (namely the sum of the speeds of the front wheels) is larger than the sum of the speeds of the first driving wheel 4 and the second driving wheel 2 (namely the sum of the speeds of the rear wheels), the steering center moves backwards, otherwise, the steering center moves forwards).
When the wheels normally turn right, the sum of the speeds of the first steering wheel 4 and the second steering wheel 5 (i.e. the sum of the speeds of the front wheels) = the sum of the speeds of the first driving wheel 4 and the second driving wheel 2 (i.e. the sum of the speeds of the rear wheels), the second steering motor 7 on the right decelerates, and the generated torque is used for enabling the clutch to provide differential speed, so that the vehicle turns right. (in this case, the steering center is on the transverse line of the vehicle structure center, the steering radius depends on the differential speed, if the steering center is ahead of (behind) the transverse line of the vehicle structure center, the difference of the rotating speeds of the front wheels and the rear wheels, namely the third degree of freedom, needs to be changed; if the sum of the speeds of the first steering wheel 4 and the second steering wheel 5 (namely the sum of the speeds of the front wheels) is larger than the sum of the speeds of the first driving wheel 4 and the second driving wheel 2 (namely the sum of the speeds of the rear wheels), the steering center moves backwards; otherwise, the steering center moves forwards).
When the vehicle is in pivot steering, the power motor 8 stops outputting, the steering directions of the first steering motor 6 and the second steering motor 7 are opposite, and the rotating speeds are the same, so that a differential speed is formed between the first steering wheel 4 and the second steering wheel 5, and the vehicle achieves the effect of in pivot steering.
The main improvement point of the present invention is to improve the overall power of the vehicle, and the implementation of the flexibility of the vehicle is based on the prior art, such as the machine trolley in the existing four-wheel differential model, and the specific principle can refer to fig. 3, the position of the steering center 12 is preset, and the total vector direction speed 9 of each wheel during steering is preset according to the distance from the position of the steering center 12 to the center of each wheel (because the total vector direction speed 9 of the tire is perpendicular to the connecting line from the steering center 12 to the center of the tire, the direction of the total vector direction speed 9 of the wheel is determined, and the magnitude of the total vector direction speed 9 of the wheel is proportional to the distance from the center of the wheel to the steering center 12, the magnitude of the total vector direction speed 9 of the wheel is determined), and the component of the direction when the vehicle is moving straight, namely, the forward speed 10 of the wheel (through the pythagorean theorem calculation, the total vector direction speed 9 of the wheels is multiplied by the included angle of the straight direction of the vehicle to obtain the advancing speed of the wheels), so that the open-loop steering of the vehicle can be realized as long as the advancing speed of the wheels is controlled according to the preset position of the steering center 12 when the vehicle turns; the advancing speed of the wheels is determined by the output of the power motor 8, the transmission ratio of the differential mechanism 3, the rotating speed of the first steering motor 6 and the rotating speed of the second steering motor 7. Therefore, after the steering center 12 is preset (actually, the total vector direction speed 9 of the wheels, the rotating speed of the steering motor during turning, the output of the power motor 8 and the like are also preset), the vehicle can run according to the set parameters to achieve the most reasonable steering process during actual turning, and incomplete steering is avoided. Fig. 3 shows the steering center 12 when the vehicle is set in advance to turn left. Similarly, when the vehicle turns right, the steering center 12 is set in advance at one position on the right side of the vehicle, and the rotation speed of the first steering motor 6, the rotation speed of the second steering motor 7, the output of the power motor 8, and the like are set in advance.
It should be noted that the terms "upper", "lower", "left", "right", "front", "back", etc. used in the present invention are for clarity of description only, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not limited by the technical contents of the essential changes.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (7)
1. A three-degree-of-freedom steering system is characterized by comprising a control system, a frame (11), a power motor (8), a steering wheel set and a driving wheel set;
the driving wheel set comprises a first driving wheel (1), a second driving wheel (2) and a differential (3), an output shaft of the power motor (8) is connected with an input shaft of the differential (3) through a coupler, and an output shaft of the differential (3) is respectively connected with a first driving wheel (1) shaft and a second driving wheel (2) shaft through a coupler;
the steering wheel set comprises a first steering wheel (4), a second steering wheel (5), a first steering motor (6) and a second steering motor (7); the shaft of the first steering wheel (4) is connected with the output shaft of a first steering motor (6) through a coupler, and the shaft of the second steering wheel (5) is connected with the output shaft of a second steering motor (7) through a coupler;
the control system adjusts the rotating speeds of the power motor (8), the first steering motor (6) and the second steering motor (7) through pwm waves;
the control system, the power motor (8), the differential (3), the first steering motor (6) and the second steering motor (7) are all installed on the frame (11).
2. A three-degree-of-freedom steering system according to claim 1,
the number of the driving wheel sets is more than or equal to 1, and the differential (3) of each group of driving wheel sets is adapted to the power motor (8);
the number of the steering wheel sets is greater than or equal to 1.
3. A three-degree-of-freedom steering system according to claim 1, characterized in that the power of the power motor (8) is more than 10 times the power of the steering motor.
4. The three-degree-of-freedom steering system according to claim 1, wherein the power motor (8) and the steering motor are direct current motors or stepping motors.
5. The three-degree-of-freedom steering system according to claim 1, wherein the locking coefficient K = 1.05-1.3 or K = 1.4-1.5 of the differential (3).
6. The three-degree-of-freedom steering system according to claim 1 is characterized in that when the vehicle travels straight, the rotation speed of the first steering motor (6 = the rotation speed of the second steering motor (7 = the rotation speed of the first driving wheel (1 = the rotation speed of the second driving wheel (2) = the rotation speed of the power motor (8)/the transmission ratio of the differential (3).
7. A three-degree-of-freedom steering method based on the system as claimed in any one of claims 1-6,
when the vehicle turns left, the rotating speed of the first steering motor (6) is less than that of the second steering motor (7), the power motor (8) continuously outputs power, and meanwhile, the differential mechanism (3) provides differential speed between the first driving wheel (1) and the second driving wheel (2) to enable the vehicle to turn left;
when the vehicle turns right, the rotating speed of the first steering motor (6) is greater than that of the second steering motor (7), the power motor (8) continuously outputs power, and meanwhile, the differential (3) provides differential speed between the first driving wheel (1) and the second driving wheel (2); enabling the vehicle to realize right turning;
when the vehicle is in pivot steering, the power motor (8) stops outputting, the rotating speed of the first steering motor (6) is opposite to that of the second steering motor (7), and the rotating speed of the first steering motor (6) is the same as that of the second steering motor (7), so that a differential speed is formed between the first steering wheel (4) and the second steering wheel (5), and the vehicle is in pivot steering.
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| CN202110936810.8A CN113479259A (en) | 2021-08-16 | 2021-08-16 | Three-degree-of-freedom steering method and system |
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| CN202110936810.8A CN113479259A (en) | 2021-08-16 | 2021-08-16 | Three-degree-of-freedom steering method and system |
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Application publication date: 20211008 |
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