CN114543733A - Wheel type vehicle driving wheel steering angle measuring device and control method - Google Patents
Wheel type vehicle driving wheel steering angle measuring device and control method Download PDFInfo
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- G—PHYSICS
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Abstract
The invention provides a device for measuring the angle of an active wheel of a wheeled vehicle and a control method. The portable angle sensor comprises a portable mounting structure, a measuring unit and a control unit, wherein the portable mounting structure comprises a cylindrical sleeve, a stop screw, a connecting plate and a bolt, the measuring unit comprises a non-contact angle sensor, a unilateral absolute angle sensor and a power supply, the control unit comprises a direct current motor and a controller, and the controller comprises a main control board and a display unit. When the device is operated, firstly, a mapping relation between a steering angle of the driving wheel and the unilateral absolute type angle sensor is generated through the measuring device, secondly, the portable mounting structure and the non-contact type angle sensor are disassembled, finally, the wheel is fed back through angle information to steer in real time, the difference between the steering angle and a target steering angle of a control method is obtained, and the controller drives the direct current motor to be used for controlling the steering angle of the driving wheel. The invention can carry out high-precision measurement on the steering angle in the vehicle steering control experiment, and is convenient for analyzing the experimental characteristics, improving the precision of the measurement unit and optimizing the steering control algorithm.
Description
Technical Field
The invention relates to the field of automatic auxiliary driving of vehicles, in particular to measurement and control of steering angles of driving wheels of wheeled vehicles, which is particularly suitable for agricultural machinery.
Background
In the field of automatic auxiliary driving of vehicles, the steering angle information of a driving wheel in automatic navigation of the vehicles is important information in a navigation control algorithm and is used for feedback control as vehicle state information, and the accurate wheel steering angle information can directly improve the control precision and the operation effect of automatic driving of the vehicles. However, the current instrument for measuring the inner and outer wheel rotation angles of the vehicle is a wheel positioning instrument or a wheel rotation angle measuring turntable, and when the instrument is used, an auxiliary device is needed to lift the wheel of the vehicle to be measured so as to be convenient to place, the device cost is high, the labor cost is high, the angle measuring precision is low, and the data reading is complex.
At present, the direct current motors are more adopted in the market, the angle encoders are incremental, the detection precision is greatly influenced by random drift, accumulated errors, external interference and the like, in addition, the control precision is greatly influenced by factors such as the free stroke of a vehicle steering system, the gap of a steering gear and the like, particularly agricultural machinery cannot accurately obtain the mapping relation between the wheel angle and the absolute position of the motor, and the control algorithm researched in the prior art adopts a table look-up method, so that the direct current motors are too ideal and have large defects and errors.
In the prior art, patent CN 112758177 a discloses a steering control method and a steering control system based on an absolute position of a motor, which are only suitable for realizing control of wheel steering by a target wheel angle and an absolute motor angle completely depending on a table look-up method, and indicate that the purposes of vehicle maintenance or calibration, system upgrade, etc. occur, or after software and hardware of a steering control system of a vehicle are changed, calibration needs to be performed again and the implementation is difficult. A paper 'design of a steering control system of an electric steering wheel transplanter' (Hodgkin et al, journal of agricultural engineering, 2019,35(06):10-17.) designs a PID-based nested steering control algorithm with a dead zone range, but is only suitable for vehicles with high installation precision and low wear rate of a transmission mechanism, and has poor adaptability to different vehicle types. For a low-speed wheeled vehicle, a two-wheel vehicle kinematic model is widely used, and the steering control algorithm precision can be effectively improved by a high-precision measurement and real-time feasible control method of the steering angle of a driving wheel.
Disclosure of Invention
Aiming at the defects in the prior art, the invention mainly aims to provide a device and a method for measuring the active wheel steering angle of a wheeled vehicle, which realize high-precision data integration display, stable driving wheel steering angle calculation and high-precision vehicle steering control, thereby laying a foundation for the high precision of path tracking in the automatic driving operation process.
The technical purpose is realized by the following technical scheme: a wheel type vehicle driving wheel rotation angle measuring device comprises a portable mounting structure, a measuring unit and a control unit, wherein the portable mounting structure comprises a stop screw 2, a cylindrical sleeve 3, a bolt 4, a bolt 6 and a connecting plate 7, one end of the cylindrical sleeve 3 is fixed on a left wheel frame shaft 1 and a right wheel frame shaft 1 through the stop screw 2, the other end of the cylindrical sleeve is fixed on the connecting plate 7 through the bolt 4, and a non-contact angle sensor 5 of the measuring unit is fixed on the connecting plate 7 through the bolt 6; the measuring unit comprises a left wheel non-contact angle sensor 5, a right wheel non-contact angle sensor 5, a single-side absolute angle sensor 9 and a power supply 11, the control unit comprises a direct current motor 10 and a controller 14, and the controller 14 comprises a main control board 12 and a display unit 13; the non-contact angle sensor 5, the single-side absolute angle sensor 9, the direct current motor 10 and the display unit 13 are all connected with the main control board 12, the direct current motor 10 is controlled by the main control board 12 to rotate, real-time data of the non-contact angle sensor 5, the single-side absolute angle sensor 9 and the direct current motor 10 are loaded into the main control board 12 to be stored and displayed in the display unit 13 in a numerical mode, the main control board 12 provides numerical storage and integrated control functions, the display unit 13 provides numerical display and man-machine interaction functions and can key data to change relevant control parameters, and the power supply 11 supplies power for a power utilization unit of the measuring device.
Furthermore, the portable mounting structure and the non-contact angle sensor 5 form a measuring sub-unit 8, the measuring sub-unit 8 can be simply mounted on the left driving wheel and the right driving wheel of the vehicle in a matched manner, and for an Ackerman steering wheel type vehicle, if the wheels are ensured to roll purely in the steering process and the slip or sliding phenomenon does not occur, the ideal satisfied condition is that
Wherein alpha is the outer steering angle of the driving wheel, beta is the inner steering angle of the driving wheel, B is the wheel track, and L is the wheel base of the front and rear wheels.
The invention discloses a control method of a device for measuring the angle of a driving wheel of a wheeled vehicle, which comprises the following steps:
the method comprises the following steps: a calibration test of the mapping relation between the steering angle of the driving wheel and the unilateral absolute angle sensor 9 is carried out;
step two: disassembling the measuring quantum unit 8, determining the zero deviation epsilon of the steering angle of the driving wheel through a straight line running test, and generating a measuring model;
step three: and (4) adding a control program completely depending on the measurement model in the step two to implement the control method.
Further, the step one specifically includes the steps of:
1.1) parking a vehicle on a flat ground, installing a measuring sub-unit 8, enabling the bottom surface of a connecting plate 7 in the measuring sub-unit 8 to be parallel to the ground and used for ensuring the accurate measurement of the deflection angle of a non-contact angle sensor 5, wherein a single-side absolute angle sensor 9 is used for measuring a single-side steering angle, the installation positions of the single-side absolute angle sensors 9 are not uniform according to the different steering structures of the wheeled vehicle, the single-side absolute angle sensors are preferentially installed on a main pin shaft of the vehicle, and a carrier rice transplanter is installed on a right front wheel by adopting a plane four-bar mechanism;
1.2) ensuring that the driving wheel is theoretically at a middle steering position, wherein the middle steering position refers to the position of the actual turning angle of the wheel being 0 under the straight running state of the vehicle;
1.3) the power utilization unit is powered on, and the controller 14 respectively acquires steering angle information of the driving wheel and steering angle information of one side through the left and right wheel non-contact angle sensors 5 and the one-side absolute angle sensor 9;
1.4) in the action wheel activity turns to the limit interval, controller 14 control direct current motor 10 small-angle equal interval rotation steering wheel to drive wheel rotation, wherein the interval angle suggestion chooses 10 ~ 30 for use, left and right sides wheel corner information shows and SD card storage in real time on controller 14, data collection, use the action wheel meso position as the boundary line, record the vehicle and correspond left and right turn to angle information, wherein the actual angle equals the deviation of real-time steering angle and meso position angle, be respectively left round actual angle delta of turning leftallActual angle delta of left turn of right wheelarlTrue angle delta of one-sided left turnclActual angle delta of right-turning left wheelalrRight actual angle delta of right wheelarrOne-sided right-turn actual angle deltacrThe left deflection of the wheels is specified as a positive direction;
1.5) for the data collected in the step 1.4), adopting sliding in a control programThe dynamic average filtering method is used for filtering data, and the middle position virtual wheel angle of the kinematic model of the two-wheel vehicle
In the formula oflFor left wheel steering angle, deltarIs divided into a middle virtual wheel left-turning actual angle for a right wheel steering angle
Actual right-turning angle of neutral virtual wheel
Anti-interference and least square linear processing data, averaging state values after multiple groups of tests are rejected by a Q value detection method to generate deltaclAnd deltaal、δcrAnd deltaarThe mapping relations of (a) are respectively as follows: deltaal＝klδcl+bl，δar＝krδcr+brWherein k isl、krSlope of the calibration formula, bl、brReferring to the intercept of a calibration formula, the angular deviation between the mapping relations synthesized by two rotation directions is recorded as the fault-tolerant error of a median virtual wheel
Further, the second step specifically comprises the following steps:
2.1) selecting to carry out straight line driving on a flat road surface, and continuously sampling to obtain N groups of test data;
2.2) according to Ackerman vehicle kinematics model:
and a zero offset identification performance optimization index function defined during straight line driving:
when it is satisfied with
Can minimize the F value to obtain epsilon in the formula
The vehicle body course angle v at t +1 and ttIndicating the running speed of the vehicle at the moment T, wherein the course angle and the running speed of the vehicle body are transmitted to the controller 14 by an upper computer of the navigation control system, and the delta T is a data sampling time interval, wherein the sampling time interval is 100ms and deltaatThe steering angle of a middle virtual wheel in the vehicle at the moment t, i refers to the ith group of test data,
i, i-1 group of vehicle body course angle data, vi-1Refers to the i-1 th group of vehicle running speed data, deltaa,i-1The steering angle data of a middle virtual wheel in the i-1 th group of vehicles are indicated;
2.3) obtaining the zero offset epsilon and generating a measurement model deltaal＝klδcl+bl-ε，δar＝krδcr+br-ε，
Single-side absolute angle sensor 9 degree delta for calculating steering zero position of driving wheelc0。
Further, the third step specifically includes the following steps:
3.1) obtaining an initial single-sided absolute angle sensor 9 reading delta at power-up of the vehicle control systemckBased on deltac0The relative direction of the initial wheel can be judged in the program, and when the linear tracking or curve tracking process of the vehicle is executed, the reading delta of the single-side absolute angle sensor 9cThe measurement model subprogram in the control program can generate the middle position virtual wheel angle delta in real timea；
3.2) the navigational control System provides real-time lateral deviation, heading deviation, to the controller 14,The vehicle speed is obtained by using a pure tracking model based on a neural network to output a target rotation angle delta of a median virtual wheeluCalculating the real-time deviation delta of the middle virtual wheel at the current momentu-δaConversion of the real-time deviation Delta of the single-sided angle at the current time by a measurement model subroutinecDetermining the rotation direction of the driving wheel at the next moment according to the vector deviation symbol;
3.3) considering the inaccurate mapping relation between the steering angle of the driving wheel of the vehicle and the steering motor angle of the steering wheel in the free stroke interval, and determining the rotating direction of the driving wheel at the next moment through the step 3.2) and real-time deviation delta through the single-side anglecThe approximate angle delta of the required rotation of the direct current motor 10 can be obtainedd；
3.4) setting a fault-tolerant error sigma, wherein the fault-tolerant error sigma is obtained by debugging experiments according to different vehicle models and different transmission mechanism accuracies, and ensuring that the rotation angle of the direct current motor 10 meets deltad-σ≤ΔδD≤ΔδdAnd the response period of the direct current motor 10 is 200Hz, so that the high-frequency response and the real-time performance of the control system are ensured, the stability and the robustness of the vehicle are ensured, the corresponding sign change generated in the control program, namely the vector information of the used state quantity has both magnitude and direction, and necessary flag bits are added to complete the steering control of the driving wheel.
The non-contact angle sensor 5 is made of LPMS-IG1 RS232 produced by Arbitrary ratio of Guangzhou, has the angle resolution of 0.01 degrees, the angle random walk (f is 10Hz) of 0.18 degrees/h, the zero stability of 4 degrees/h and the waterproof grade IP67, and is connected with an RS232 interface of a main control board through an RS232 serial port.
The absolute formula angle sensor of unilateral 9 choose for use the DWQT-RS485-G/J model of Beijing sky sea branch of academic or vocational study production, have two U type fixed slots and a mounting hole on the sensor, adopt the mounting means of plane four-bar to install on unilateral action wheel steering spindle (the carrier transplanter is installed at right front wheel), this sensor adopts novel magnetism sensing element, resolution ratio 0.022, links to each other with the RS485 interface of main control panel through the RS485 serial ports of taking certainly.
The direct current motor 10 is selected from AF300 model produced by Shanghai Union navigation company, the direct current motor 10 is installed on a steering wheel fixing shaft and is fixed by a locking device, and the installation method is disclosed in patent (CN207450006U Beidou navigation automatic steering wheel device).
The main control board 12 adopts an EMB8616I industrial control board, adopts STM32F107VCT6 of ST company as MCU, and is integrated with 3 RS232 serial ports, 1 RS485 serial port, 1 UART serial port, and 8A/D conversion interfaces with 12 bits.
The display unit 13 is a DC10600M070_2111_0C capacitive touch screen of cantonese large color optical and electrical technology limited, a TTL interface is integrated on the touch screen, and the display unit 13 is connected with a UART interface of the controller through the TTL interface and is used for displaying and setting information such as real-time angles.
The invention has the beneficial effects that:
(1) the device and the method for measuring the active wheel steering angle of the wheeled vehicle can measure and record the steering angle in the automatic steering control experiment process, are convenient to analyze the vehicle steering control experiment characteristics, improve the accuracy of the steering angle measuring unit and improve the accuracy of a steering control algorithm.
(2) The measuring device has the advantages of simple and convenient installation and disassembly process, low cost, high use efficiency, strong practicability and wide application range.
(3) The control method is suitable for vehicles with free travel which cannot be represented by an accurate model, the control algorithm of the control method is tested on various vehicles, and the control method is real-time and feasible and has high control precision.
Drawings
FIG. 1 is a schematic view of an active wheel steering angle measuring sub-unit in the device and the method for measuring the active wheel steering angle of a wheeled vehicle according to the present invention
FIG. 2 is a schematic structural diagram of an active wheel steering angle measuring device in the present invention and a control method thereof
FIG. 3 is a schematic block diagram of a driving wheel rotation angle control method in the device and method for measuring the driving wheel rotation angle of a wheeled vehicle according to the present invention
Wherein: 1-paddy field wheels (wheels); 2-stop screws; 3-a cylindrical sleeve; 4-M5 bolt; 5-a non-contact angle sensor; 6-M3 bolt; 7-a connecting plate; 8-a measurement subunit; 9-single sided absolute angle sensor; 10-direct current motor (electric steering wheel); 11-a power supply; 12-a main control board; 13-a display unit; 14-controller
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention provides an automatic driving auxiliary measuring system, and the device and the control method for measuring the active wheel rotation angle of a wheeled vehicle comprise a portable mounting structure, a measuring unit and a control unit.
The portable mounting structure comprises a cylindrical sleeve 3 and a connecting plate 7, one end of the cylindrical sleeve 3 is fixed on the left wheel frame shaft 1 and the right wheel frame shaft 1 through two stop screws 2, the other end of the cylindrical sleeve is fixed on the connecting plate 7 through two bolts 4, and the non-contact angle sensor 5 of the measuring unit is fixed on the connecting plate 7 through four bolts 6.
The measuring unit comprises a left wheel non-contact angle sensor 5, a right wheel non-contact angle sensor 5, a single-side absolute angle sensor 9 and a power supply 11.
The non-contact angle sensor 5 is made of LPMS-IG1 RS232 produced by Arbitrary ratio of Guangzhou, has the angle resolution of 0.01 degrees, the angle random walk (f is 10Hz) of 0.18 degrees/h, the zero stability of 4 degrees/h and the waterproof grade IP67, and is connected with an RS232 interface of a main control board through an RS232 serial port.
The absolute formula angle sensor of unilateral 9 choose for use the DWQT-RS485-G/J model of Beijing sky sea branch of academic or vocational study production, have two U type fixed slots and a mounting hole on the sensor, adopt the mounting means of plane four-bar to install on unilateral action wheel steering spindle (the carrier transplanter is installed at right front wheel), this sensor adopts novel magnetism sensing element, resolution ratio 0.022, links to each other with the RS485 interface of main control panel through the RS485 serial ports of taking certainly.
The control unit comprises a direct current motor 10 and a controller 14, the controller 14 comprises a main control board 12 and a display unit 13, the output end of the angle sensor is connected with the input end of the controller, the main control board 12 provides a numerical value storage and integrated control function, the display unit 13 provides a numerical value display and man-machine interaction function, and a power supply 11 supplies power for a power utilization unit of the measuring device.
The direct current motor 10 is selected from AF300 model produced by Shanghai Union navigation company, the direct current motor 10 is installed on a steering wheel fixing shaft and is fixed by a locking device, and the installation method is disclosed in patent (CN207450006U Beidou navigation automatic steering wheel device).
The main control board 12 adopts an EMB8616I industrial control board, adopts STM32F107VCT6 of ST company as MCU, and is integrated with 3 RS232 serial ports, 1 RS485 serial port, 1 UART serial port, and 8A/D conversion interfaces with 12 bits.
The display unit 13 is a DC10600M070_2111_0C capacitive touch screen of cantonese large color optical and electrical technology limited, a TTL interface is integrated on the touch screen, and the display unit 13 is connected with a UART interface of the controller through the TTL interface and is used for displaying and setting information such as real-time angles.
The portable mounting structure is characterized in that the non-contact angle sensor 5 is fixedly connected to the portable mounting structure to form a measuring subunit 8, the measuring subunit 8 can be matched with and simply mounted on a left driving wheel and a right driving wheel of a vehicle, and for an Ackerman steering wheel type vehicle, the situation that the wheels are guaranteed to roll purely and do not slip or slide in the steering process is assumed, and the ideal satisfied condition is that
Wherein alpha is the outside steering angle of the driving wheel, beta is the inside steering angle of the driving wheel, B is the wheel base (the carrier transplanter is 1.5m), and L is the wheel base (1.04m) of the front and the rear wheels.
The device for measuring the active wheel steering angle of the wheeled vehicle and the control method thereof comprise the following steps:
the method comprises the following steps: a calibration test of the mapping relation between the steering angle of the driving wheel and the unilateral absolute angle sensor 9 is carried out;
1) parking a vehicle on a flat ground, installing the measuring subunit 8 in the claim 2, enabling the bottom surface of a connecting plate 7 in the measuring subunit 8 to be parallel to the ground and used for ensuring the accurate measurement of the deflection angle of the non-contact angle sensor 5, using a single-side absolute angle sensor 9 for measuring a single-side steering angle, wherein the installation positions of the single-side absolute angle sensors 9 are not uniform according to different steering structures of the wheeled vehicle and are preferentially installed on a main pin shaft of the vehicle, and the carrier rice transplanter is installed on a right front wheel by adopting a plane four-bar mechanism;
2) ensuring that the driving wheel is theoretically positioned at a middle steering position, wherein the middle steering position refers to the position of the actual turning angle of the wheel being 0 under the straight running state of the vehicle;
3) the power utilization unit is electrified, and the controller 14 respectively acquires steering angle information of the driving wheel and steering angle information of the single side through the left and right wheel non-contact angle sensors 5 and the single side absolute angle sensor 9;
4) in the active steering limit interval of the driving wheel, the controller 14 controls the direct current motor to rotate the steering wheel at small angles and equal intervals, so that the wheels are driven to rotate, wherein the interval angle is 10-30 degrees, left and right wheel steering angle information is displayed on the controller 14 in real time and stored by an SD card, data are collected, left and right steering angle information corresponding to the vehicle is recorded by taking the middle position of the driving wheel as a boundary, wherein the actual angle is equal to the deviation between the real-time steering angle and the middle position angle and is respectively the left wheel left-turning actual angle deltaallActual angle delta of left turn of right wheelarlTrue angle delta of one-sided left turnclActual angle delta of right-turning left wheelalrRight actual angle delta of right wheelarrOne-sided right-turn actual angle deltacrThe left deflection of the wheels is specified as a positive direction;
5) filtering the data acquired in the step 4) by adopting a moving average filtering method in a control program, and obtaining the middle position virtual wheel angle of the kinematic model of the two-wheel vehicle
In the formula oflFor left wheel steering angle, deltarIs divided into a middle virtual wheel left-turning actual angle for a right wheel steering angle
Actual right-turning angle of neutral virtual wheel
Resist drynessData are processed in a linear way by interference and least square, and after being subjected to the rejection by a Q value detection method, a plurality of groups of tests are subjected to average state value acquisition to generate deltaclAnd deltaal、δcrAnd deltaarThe mapping relations of (a) are respectively as follows: deltaal＝klδcl+bl，δar＝krδcr+brWherein k isl、krSlope of the calibration formula, bl、brReferring to the intercept of a calibration formula, the angular deviation between the mapping relations synthesized by two rotation directions is recorded as the fault-tolerant error of a median virtual wheel
Step two: disassembling the measuring quantum unit 8, determining the zero deviation epsilon of the steering angle of the driving wheel through a straight line running test, and generating a measuring model;
1) selecting a flat road surface to carry out straight line driving, and continuously sampling to obtain N groups of test data;
2) according to the ackerman vehicle kinematics model:
and a zero offset identification performance optimization index function defined during straight line driving:
when it is satisfied with
Can minimize the F value to obtain epsilon in the formula
The vehicle body course angle v at t +1 and ttIndicating the running speed of the vehicle at the moment T, wherein the course angle and the running speed of the vehicle body are transmitted to the controller 14 by an upper computer of the navigation control system, and the delta T is a data sampling time interval, wherein the sampling time interval is 100ms and deltaatThe steering angle of a middle virtual wheel in the vehicle at the moment t, i refers to the ith group of test data,
i, i-1 group of vehicle body course angle data, vi-1Refers to the i-1 th group of vehicle running speed data, deltaa,i-1The steering angle data of a middle virtual wheel in the i-1 th group of vehicles are indicated;
3) obtaining zero offset epsilon and generating a measurement model deltaal＝klδcl+bl-ε，δar＝krδcr+br-ε，
Single-side absolute angle sensor 9 degree delta for calculating steering zero position of driving wheelc0。
Step three: adding a control program completely depending on the measurement model in the step two, and implementing the control method;
1) obtaining an initial single-sided absolute angle sensor 9 reading delta upon power-up of a vehicle control systemckBased on δ in claim 5c0The relative direction of the initial wheel can be judged in the program, and when the linear tracking or curve tracking process of the vehicle is executed, the reading delta of the single-side absolute angle sensor 9cThe measurement model subprogram in the control program can generate the middle virtual wheel angle delta in real timea；
2) The navigation control system provides real-time lateral deviation, course deviation and vehicle speed to the controller 14, and outputs the target rotation angle delta of the median virtual wheel by using a pure tracking model based on a neural networkuCalculating the real-time deviation delta of the middle virtual wheel at the current momentu-δaConversion of the real-time deviation Delta of the single-sided angle at the current time by a measurement model subroutinecDetermining the rotation direction of the driving wheel at the next moment according to the vector deviation symbol;
3) considering that the steering angle of the driving wheel of the vehicle and the steering motor angle of the steering wheel have no accurate mapping relation in the free stroke interval, the rotating direction of the driving wheel at the next moment determined in the step 2) is subjected to real-time deviation delta through the single-side anglecThe approximate angle delta of the required rotation of the direct current motor 10 can be obtainedd；
4) Setting a fault tolerance error sigma, wherein the fault tolerance error sigma is obtained by debugging experiments according to different vehicle types and different transmission mechanism accuracies, and ensuring that the rotation angle of the direct current motor 10 meets deltad-σ≤ΔδD≤ΔδdAnd the response period of the direct current motor 10 is 200Hz, so that the high-frequency response and the real-time performance of the control system are ensured, the stability and the robustness of the vehicle are ensured, the corresponding sign change generated in the control program, namely the vector information of the used state quantity has both magnitude and direction, and necessary flag bits are added to complete the steering control of the driving wheel.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and those skilled in the art should understand that: : various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. A wheel type vehicle driving wheel corner measuring device is characterized by comprising a portable mounting structure, a measuring unit and a control unit, wherein the portable mounting structure comprises a stop screw 2, a cylindrical sleeve 3, a bolt 4, a bolt 6 and a connecting plate 7, one end of the cylindrical sleeve 3 is fixed on a left wheel frame shaft 1 and a right wheel frame shaft 1 through the stop screw 2, the other end of the cylindrical sleeve is fixed on the connecting plate 7 through the bolt 4, and a non-contact angle sensor 5 of the measuring unit is fixed on the connecting plate 7 through the bolt 6; the measuring unit comprises a left wheel non-contact angle sensor 5, a right wheel non-contact angle sensor 5, a single-side absolute angle sensor 9 and a power supply 11, the control unit comprises a direct current motor 10 and a controller 14, and the controller 14 comprises a main control board 12 and a display unit 13; the non-contact angle sensor 5, the single-side absolute angle sensor 9, the direct current motor 10 and the display unit 13 are all connected with the main control board 12, the direct current motor 10 is controlled by the main control board 12 to rotate, real-time data of the non-contact angle sensor 5, the single-side absolute angle sensor 9 and the direct current motor 10 are loaded into the main control board 12 to be stored and displayed in the display unit 13 in a numerical mode, the main control board 12 provides numerical storage and integrated control functions, the display unit 13 provides numerical display and man-machine interaction functions and can key data to change relevant control parameters, and the power supply 11 supplies power for a power utilization unit of the measuring device.
2. A device for measuring the rotation angle of a driving wheel of a wheeled vehicle according to claim 1, wherein the portable mounting structure and the non-contact angle sensor 5 form a measurement subunit 8, the measurement subunit 8 can be simply mounted on the left and right driving wheels of the vehicle, and for ackermann steering wheeled vehicles, if it is ensured that the wheels roll only and no slip or sliding occurs during the steering process, the ideal condition is satisfied
Wherein alpha is the outer steering angle of the driving wheel, beta is the inner steering angle of the driving wheel, B is the wheel track, and L is the wheel base of the front and rear wheels.
3. The method for controlling a device for measuring the angle of rotation of an active wheel of a wheeled vehicle according to claim 2, comprising the steps of:
the method comprises the following steps: a calibration test of the mapping relation between the steering angle of the driving wheel and the unilateral absolute angle sensor 9 is carried out;
step two: disassembling the measuring quantum unit 8, determining the zero deviation epsilon of the steering angle of the driving wheel through a straight line running test, and generating a measuring model;
step three: and (4) adding a control program completely depending on the measurement model in the step two to implement the control method.
4. The method for controlling a device for measuring the angle of rotation of an active wheel of a wheeled vehicle according to claim 3, wherein the first step specifically comprises the steps of:
1.1) parking a vehicle on a flat ground, installing a measuring sub-unit 8, enabling the bottom surface of a connecting plate 7 in the measuring sub-unit 8 to be parallel to the ground and used for ensuring the accurate measurement of the deflection angle of a non-contact angle sensor 5, wherein a single-side absolute angle sensor 9 is used for measuring a single-side steering angle, the installation positions of the single-side absolute angle sensors 9 are not uniform according to the different steering structures of the wheeled vehicle, the single-side absolute angle sensors are preferentially installed on a main pin shaft of the vehicle, and a carrier rice transplanter is installed on a right front wheel by adopting a plane four-bar mechanism;
1.2) ensuring that the driving wheel is theoretically at a middle steering position, wherein the middle steering position refers to the position of the actual turning angle of the wheel being 0 under the straight running state of the vehicle;
1.3) the power utilization unit is powered on, and the controller 14 respectively acquires steering angle information of the driving wheel and steering angle information of one side through the left and right wheel non-contact angle sensors 5 and the one-side absolute angle sensor 9;
1.4) in the action wheel activity turns to the limit interval, controller 14 control direct current motor 10 small-angle equal interval rotation steering wheel to drive wheel rotation, wherein the interval angle suggestion chooses 10 ~ 30 for use, left and right sides wheel corner information shows and SD card storage in real time on controller 14, data collection, use the action wheel meso position as the boundary line, record the vehicle and correspond left and right turn to angle information, wherein the actual angle equals the deviation of real-time steering angle and meso position angle, be respectively left round actual angle delta of turning leftallActual angle delta of left turn of right wheelarlTrue angle delta of one-sided left turnclActual angle delta of right-turning left wheelalrRight actual angle delta of right wheelarrOne-sided right-turn actual angle deltacrThe left deflection of the wheels is specified as a positive direction;
1.5) filtering the data acquired in the step 1.4) by adopting a moving average filtering method in a control program, and obtaining the middle virtual wheel angle of the kinematic model of the two-wheel vehicle
In the formula oflFor left wheel steering angle, deltarIs divided into a middle virtual wheel left-turning actual angle for a right wheel steering angle
Actual right-turning angle of neutral virtual wheel
Anti-interference and least square normal linear processing data, averaging the state values after the multiple tests are selected or rejected by a Q value detection method to generate deltaclAnd deltaal、δcrAnd deltaarThe mapping relations of (a) are respectively as follows: deltaal＝klδcl+bl，δar＝krδcr+brWherein k isl、krSlope of the calibration formula, bl、brReferring to the intercept of a calibration formula, the angular deviation between the mapping relations synthesized by two rotation directions is recorded as the fault-tolerant error of a median virtual wheel
5. The method for controlling a device for measuring the angle of rotation of a driving wheel of a wheeled vehicle according to claim 3, wherein the second step specifically comprises the steps of:
2.1) selecting to carry out straight line driving on a flat road surface, and continuously sampling to obtain N groups of test data;
2.2) according to Ackerman vehicle kinematics model:
and a zero offset identification performance optimization index function defined during straight line driving:
when it is satisfied with
Can minimize the F value to obtain epsilon in the formula
The vehicle body course angle v at t +1 and ttRefers to the vehicle running speed at time t, whichThe course angle and the running speed of the middle vehicle body are transmitted to the controller 14 by an upper computer of the navigation control system, and the delta T is a data sampling time interval, wherein the sampling time interval is 100ms and deltaatThe steering angle of a middle virtual wheel in the vehicle at the moment t, i refers to the ith group of test data,
i, i-1 group of vehicle body course angle data, vi-1Refers to the i-1 th group of vehicle running speed data, deltaa,i-1The steering angle data of a middle virtual wheel in the i-1 th group of vehicles are indicated;
2.3) obtaining the zero offset epsilon and generating a measurement model deltaal＝klδcl+bl-ε，δar＝krδcr+br-ε，
Single-side absolute angle sensor 9 degree delta for calculating steering zero position of driving wheelc0。
6. The method for controlling a device for measuring the angle of rotation of a driving wheel of a wheeled vehicle according to claim 5, wherein the third step specifically comprises the steps of:
3.1) obtaining an initial single-sided absolute angle sensor 9 reading delta at power-up of the vehicle control systemckBased on deltac0The relative direction of the initial wheel can be judged in the program, and when the linear tracking or curve tracking process of the vehicle is executed, the reading delta of the single-side absolute angle sensor 9cThe measurement model subprogram in the control program can generate the middle position virtual wheel angle delta in real timea；
3.2) the navigation control system provides the controller 14 with the real-time lateral deviation, course deviation and vehicle speed, and the neutral virtual wheel target rotation angle delta is output by using a pure tracking model based on a neural networkuCalculating the real-time deviation delta of the middle virtual wheel at the current momentu-δaConversion of the real-time deviation Delta of the single-sided angle at the current time by a measurement model subroutinecDetermining the rotation direction of the driving wheel at the next moment according to the vector deviation symbol;
3.3) considering the inaccurate mapping relation between the steering angle of the driving wheel of the vehicle and the steering motor angle of the steering wheel in the free stroke interval, and determining the rotating direction of the driving wheel at the next moment through the step 3.2) and real-time deviation delta through the single-side anglecThe approximate angle delta of the required rotation of the dc motor 10 can be obtainedd；
3.4) setting a fault-tolerant error sigma, wherein the fault-tolerant error sigma is obtained by debugging experiments according to different vehicle models and different transmission mechanism accuracies, and ensuring that the rotation angle of the direct current motor 10 meets deltad-σ≤ΔδD≤ΔδdAnd the response period of the direct current motor 10 is 200Hz, so that the high-frequency response and the real-time performance of the control system are ensured, the stability and the robustness of the vehicle are ensured, the corresponding sign change generated in the control program, namely the vector information of the used state quantity has both magnitude and direction, and necessary flag bits are added to complete the steering control of the driving wheel.
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