CN115465032A - Unmanned-line-controlled six-wheel all-terrain attitude control vehicle and control method thereof - Google Patents
Unmanned-line-controlled six-wheel all-terrain attitude control vehicle and control method thereof Download PDFInfo
- Publication number
- CN115465032A CN115465032A CN202210899812.9A CN202210899812A CN115465032A CN 115465032 A CN115465032 A CN 115465032A CN 202210899812 A CN202210899812 A CN 202210899812A CN 115465032 A CN115465032 A CN 115465032A
- Authority
- CN
- China
- Prior art keywords
- wheel
- attitude control
- servo motor
- rear axle
- unmanned
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000000725 suspension Substances 0.000 claims abstract description 34
- 238000013016 damping Methods 0.000 claims abstract description 5
- 238000006073 displacement reaction Methods 0.000 claims description 23
- 230000035939 shock Effects 0.000 claims description 18
- 230000005284 excitation Effects 0.000 claims description 14
- 239000006096 absorbing agent Substances 0.000 claims description 12
- 238000001914 filtration Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 241001494479 Pecora Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000035558 fertility Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to a unmanned line control six-wheel all-terrain attitude control vehicle and a control method thereof, wherein the scheme comprises a frame, and a front axle system, a rear axle system and an electric appliance system which are arranged on the frame; the front axle system comprises two wheels, a front wheel edge system for driving and braking the two wheels, a steer-by-wire system for driving the two wheels to steer and a front suspension system for damping and supporting; the rear axle system comprises a rear suspension system connected with the frame, an attitude control system connected with the rear suspension system, and a first rear axle and a second rear axle which are respectively arranged at the front end and the rear end of the attitude control system, wherein each first rear axle and each second rear axle are provided with a wheel and a rear wheel edge system used for driving and braking each wheel so as to form a six-wheel structure; the electric system is respectively electrically connected with the front shaft system and the rear shaft system. The invention can effectively control the wheel attitude, thereby obtaining better ground holding force.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a unmanned-line-controlled six-wheel all-terrain attitude control vehicle and a control method thereof.
Background
In recent years, the automobile field is developed at a high speed, more and more mechanical structures are replaced by a drive-by-wire system (such as a drive-by-wire brake, a drive-by-wire steering, an electronic accelerator and the like), along with the development of economy, a plurality of fields gradually start to use a drive-by-wire chassis for operation, a multi-axle vehicle has good trafficability and small ground pressure, and has more applications in engineering, off-road and military vehicles, and the drive-by-wire multi-axle vehicle also has a great application prospect in transportation and engineering operation.
However, most of the current unmanned vehicles are four-wheel vehicles, and the structure includes: the driving force is limited, the grip force and the trafficability characteristic are poor, and when climbing or crossing obstacles, the axle load is not uniformly distributed, or one axle is suspended in a multi-axle mode.
Therefore, an unmanned control six-wheel all-terrain attitude control vehicle and a control method thereof capable of improving vehicle trafficability and grip force are needed.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an unmanned-line-controlled six-wheel all-terrain attitude control vehicle and a control method thereof.
In order to realize the purpose of the invention, the invention adopts the following technical scheme: a unmanned line control six-wheel all-terrain attitude control vehicle comprises a frame, and a front axle system, a rear axle system and an electric appliance system which are arranged on the frame;
the front axle system comprises two wheels, a front wheel side system for driving and braking the two wheels, a steer-by-wire system for driving the two wheels to steer and a front suspension system for damping and supporting;
the rear axle system comprises a rear suspension system connected with the frame, an attitude control system connected with the rear suspension system, and a first rear axle and a second rear axle which are respectively arranged at the front end and the rear end of the attitude control system, wherein each first rear axle and each second rear axle are provided with a wheel and a rear wheel edge system used for driving and braking each wheel so as to form a six-wheel structure;
the electric system is respectively electrically connected with the front axle system and the rear axle system, is used for supplying electric energy and controlling the front axle system and the rear axle system, can receive acting force given to tires by the ground, calculates a driving distance required by reacting force according to the acting force, and controls the attitude control system to output and adjust the horizontal distance and the height distance between the first rear axle and the second rear axle through the driving distance so as to realize attitude control.
The working principle and the beneficial effects are as follows: 1. compared with the prior art, each wheel of the front axle system and each wheel of the rear axle system can be driven independently, the trafficability is good, meanwhile, the front suspension system of the front axle system can provide good shock absorption and support effects for the front end of the frame, the rear axle system is divided into two rear axles, the horizontal distance and the height distance between the two rear axles can be automatically adjusted through the electric system and the attitude control system according to ground feedback, so that the load distribution capacity when the vehicle passes through a complex ground is remarkably improved, and the ground grabbing force can be greatly increased;
2. compare with prior art's four round structures, the six round structures of this application are because every wheel all is individual drive and braking, consequently not only grab the land fertility but also the trafficability characteristic all is higher than prior art far away, the most important, two wheels of the front axle system of this application are independent control, can deal with complicated ground alone and take place the displacement change (the tradition is epaxial two wheels of connecting, consequently unable two wheels are adjusted alone), the height and the horizontal distance of two rear axles around the rear axle system can be adjusted according to ground road conditions initiative, thereby can deal with complicated road conditions better.
Furthermore, the rear suspension system is arranged on the left side and the right side of the frame, each rear suspension system comprises a longitudinal arm, a second shock absorber connected with the longitudinal arm and the frame, and a cantilever mounting seat used for mounting the longitudinal arm on the frame, and the longitudinal arm is rotatably connected with the cantilever mounting seat and the longitudinal arm is rotatably connected with the attitude control system. This arrangement can provide a good shock absorbing effect.
Further, attitude control system includes the servo motor actuator of being connected with the electrical system electricity, rotate the balance arm of being connected and locate the connecting rod between servo motor actuator and the balance arm with the trailing arm, the servo motor actuator is installed on the frame, the output of connecting rod one end rotation connection servo motor actuator, the top center of balance arm is connected to the other end, and first rear axle and second rear axle are located the front and back both ends of balance arm respectively, so that the servo motor actuator can be through the rotation of connecting rod drive balance arm, in order to realize horizontal distance and the altitude mixture control between first rear axle and the second rear axle. This setting is controlled through the servo motor actuator, and control accuracy is better, can adjust according to the road conditions better, and simple structure only needs the output distance of control servo motor actuator can realize controlling horizontal distance and the high distance between first rear axle and the second rear axle moreover, controls simply, realizes that the degree of difficulty is low.
Further, the first rear axle and the second rear axle each acquire ground excitation through a pressure sensor to obtain the force given to the tire by the ground.
Further, each attitude control system controls the operation individually. The vehicle can meet more complex road conditions, so that the heights of the left side and the right side of the vehicle can be inconsistent, and the vehicle body can be inclined.
Furthermore, the front suspension system is a double-cross-arm independent suspension, and two first shock absorbers are arranged on the double-cross-arm independent suspension and respectively absorb shock at two wheels. The structure is more stable.
Further, the front wheel side system and the rear wheel side system respectively comprise a hub motor for driving a wheel to rotate, a brake disc and a brake clamp for braking the wheel, and a hub motor mounting shaft for connecting the hub motor and a shaft of the wheel. Simple structure and strong driving force.
Furthermore, the steer-by-wire system comprises a steering motor and two tie rods which are respectively connected with an output shaft of the steering motor in a rotating way, and one end of each tie rod, which is far away from the steering motor, is connected with the part of the front suspension system, which corresponds to the wheel. The structure is simple, and the steering control of the vehicle can be conveniently realized.
A control method of a unmanned line control six-wheel all-terrain attitude control vehicle is used for carrying out attitude control on the unmanned line control six-wheel all-terrain attitude control vehicle and comprises the following steps:
acquiring pressure data borne by each servo motor actuator;
calculating the output force of each servo motor actuator according to the pressure data, and reversely deducing the road surface excitation according to the output force;
calculating the output displacement required by each servo motor actuator according to the pavement excitation;
calculating the expected displacement of each servo motor actuator by filtering the output displacement;
calculating to obtain the required output speed of each servo motor actuator through a proportional-integral controller by taking the difference between the expected displacement and the output displacement as an error;
and controlling each servo motor actuator to act according to the required output speed so as to realize the control of the wheel posture.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a front axle system;
FIG. 3 is a front view of FIG. 2;
FIG. 4 is a schematic view of a front wheel-side system;
FIG. 5 is a schematic view of a portion of the construction of the rear axle system;
FIG. 6 is a schematic view of a rear wheel edge system;
FIG. 7 is a logic control diagram of the method of the present invention.
In the figure, 1, a frame; 2. a front axle system; 3. a rear axle system; 4. an electrical system; 11. a brake clamp; 12. a hub motor mounting shaft; 13. installing a panel; 14. a lifting lug is arranged on the steering tie rod; 15. a hub motor; 16. a brake disc; 21. a steering motor; 22. sheep horn; 23. an upper cross arm; 24. a first shock absorber; 25. a tie rod; 26. a lower cross arm; 31. a trailing arm; 32. a cantilever mount; 33. a servo motor actuator; 34. a second shock absorber; 35. a connecting rod; 36. a balance arm; 37. a first rear axle; 38. a second rear axle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived from the embodiments of the present invention by a person skilled in the art, are within the scope of the present invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, the above terms should not be construed as limiting the present invention.
Example 1
As shown in fig. 1-6, the unmanned line controlled six-wheel all-terrain attitude control vehicle comprises a vehicle frame 1, and a front axle system 2, a rear axle system 3 and an electrical system 4 which are arranged on the vehicle frame 1;
the rest parts of the vehicle, such as the vehicle shell, are drawn in the drawings, and the improvement of the parts is not related in the application, so that the description is not repeated.
The front axle system 2 comprises two wheels, a front wheel-side system for driving and braking the two wheels, a steer-by-wire system for driving the two wheels to steer, and a front suspension system for damping and supporting.
In the present embodiment, the front suspension system is a double wishbone independent suspension, and two first shock absorbers 24 are provided on the double wishbone independent suspension to respectively absorb shock at two wheels. The structure is a conventional structure in the field, and further comprises an upper cross arm 23, a lower cross arm 26, a claw 22 and the like, wherein the claw 22 is used for mounting a front wheel edge system, one end of a valve seat of the first shock absorber 24 is mounted on the lower cross arm 26, and the other end of the valve seat is mounted on a vehicle machine, so that a good shock absorption effect can be realized. The inner ends of the upper cross arm 23 and the lower cross arm 26 are arranged on the frame 1, and the outer ends are respectively connected with an upper mounting point and a lower mounting point of the claw 22.
In the present embodiment, the steer-by-wire system includes a steering motor 21 and two tie rods 25 rotatably connected to the output shaft of the steering motor 21, and one end of each tie rod 25 remote from the steering motor 21 is connected to a portion of the front suspension corresponding to a wheel. Thus, the steering control of the vehicle can be conveniently realized, and the specific structure of steering is also the prior art, that is, the steering motor 21 pulls the tie rod 25 by controlling the extension and retraction of the output shaft thereof, which is not described herein again.
The rear axle system 3 includes a rear suspension system connected to the frame 1, an attitude control system connected to the rear suspension system, and a first rear axle 37 and a second rear axle 38 respectively disposed at the front and rear ends of the attitude control system, and each of the first rear axle 37 and the second rear axle 38 is provided with a wheel and a rear wheel edge system for driving and braking each wheel, so as to form a six-wheel structure.
In the present embodiment, each wheel corresponding to the present application has independent driving function (driven by the hub motor 15) and braking function (braking is realized by the brake and the brake disc 16, and the principle is the prior art and is consistent with the braking principle of an automobile or a bicycle or a battery car).
In the present embodiment, the main technical point is the rear axle system 3, wherein the rear suspension systems are disposed on the left and right sides of the frame 1, each rear suspension system comprises a trailing arm 31, a second shock absorber 34 connecting the trailing arm 31 and the frame 1, and a suspension mounting seat 32 for mounting the trailing arm 31 on the frame 1, and the trailing arm 31 and the suspension mounting seat 32 and the trailing arm 31 and the attitude control system are both rotatably connected. Can provide good shock-absorbing effect. Wherein the trailing arm 31 is mounted on the vehicle frame 1, and the second shock absorber 34 is mounted between the front end point of the trailing arm 31 and the vehicle frame 1. The trailing arm 31 and the cantilever mount 32 are provided with cantilever mount bearings.
In this embodiment, each attitude control system individually controls the operation, and the attitude control system includes a servo motor actuator 33 electrically connected to the electrical system 4, a balance arm 36 rotatably connected to the trailing arm 31, and a link 35 disposed between the servo motor actuator 33 and the balance arm 36, the servo motor actuator 33 is mounted on the vehicle frame 1, one end of the link 35 is rotatably connected to the output end of the servo motor actuator 33, the other end is connected to the top center of the balance arm 36, and a first rear shaft 37 and a second rear shaft 38 are respectively located at the front and rear ends of the balance arm 36, so that the servo motor actuator 33 can drive the balance arm 36 to rotate via the link 35 to achieve the adjustment of the horizontal distance and the height distance between the first rear shaft 37 and the second rear shaft 38. This setting is controlled through servo motor actuator 33, and control accuracy is better, can adjust according to the road conditions better, and simple structure moreover only needs control servo motor actuator 33's output distance can realize adjusting the horizontal distance and the high distance between first rear axle 37 and the second rear axle 38 (in fact just drive balance arm 36 and rotate, adjust the height of two rear axles around, control simply, and the realization degree of difficulty is low.
Preferably, the first rear axle 37 and the second rear axle 38 each acquire ground excitation by means of a pressure sensor, so as to obtain the force imparted by the ground on the tires. Other sensors are possible and the mounting of the sensors is not limited to two rear axles. During the driving process of the vehicle, when the vehicle passes an obstacle at a low speed, the ground has an excitation to the wheel, the excitation is transmitted to the balance arm 36 through the wheel, the balance arm 36 outputs a pressure to each servo motor actuator 33, the pressure and the actuator push rod force form a group of interaction forces, the actuator push rod force can be calculated through the output torque of the servo motor actuator 33, and therefore the road excitation is deduced reversely. The displacement required by the actuator is obtained through the obtained road surface excitation, the expected displacement of the servo motor actuator 33 is calculated through a second-order low-pass filter, and the output speed of each servo motor actuator 33 is obtained through a proportional-integral controller by taking the difference between the expected displacement and the output displacement of the servo motor actuator 33 as an error.
In this embodiment, the front wheel side system and the rear wheel side system each include an in-wheel motor 15 for driving a wheel to rotate, a brake disc 16 and a brake clamp 11 for braking the wheel, and an in-wheel motor mounting shaft 12 for connecting the in-wheel motor 15 and a shaft of the wheel, as shown in fig. 4, a mounting panel 13 of the front wheel side system is mounted at a cleat 22, as shown in fig. 6, and a mounting surface of the rear wheel side system is mounted on two rear shafts, which are different from each other only in mounting manner, and the front wheel side system has more tie rod mounting lugs 14, so that the structure of the mounting panel 13 is changed. The actual structures of the front wheel edge system and the rear wheel edge system are basically consistent, the wheel hub motor 15 directly drives the wheel to rotate, no gear transmission structure exists, the wheel hub motor 15 drives and brakes in a conventional manner, and the description is omitted here
The electrical system 4 is electrically connected to the front axle system 2 and the rear axle system 3, respectively, and is used for supplying electric energy and controlling the front axle system 2 and the rear axle system 3, receiving an acting force applied to a tire by the ground, calculating a driving distance required by a reaction force according to the acting force, and controlling the horizontal distance and the height distance between the first rear axle 37 and the second rear axle 38 by the driving distance to control the output of the attitude control system, so as to realize attitude control.
In this embodiment, the electrical system 4 further includes a control circuit board and the like in addition to common electrical components, such as a battery module and the like, and is connected to a remote controller through a communication line to implement a line control operation, specifically, the difference is that the control circuit board of the present application is installed with a control program, and is capable of receiving an acting force applied to a tire by the ground, and controlling the attitude control system to output and adjust a horizontal distance and a height distance between the first rear axle 37 and the second rear axle 38 to implement an attitude control.
Example 2
As shown in fig. 7, a control method of a unmanned-control six-wheeled all-terrain attitude control vehicle for attitude control of an unmanned-control six-wheeled all-terrain attitude control vehicle of embodiment 1 includes the steps of:
acquiring pressure data received by each servo motor actuator 33;
calculating the output force of each servo motor actuator 33 according to the pressure data, and reversely deducing the road surface excitation according to the output force;
in the present embodiment, taking the left side as an example, from the mechanical relationship (rear axle dynamic model) of the balance arm 36, it can be obtained:
F u *r＝b(F r1 -F r2 )/2
wherein F u Acting force of the servomotor actuator 33, F r1 、F r2 R is the power arm length of the balance arm 36 and b is the wheelbase of the balance arm 36 for the ground to bear on the first and second rear wheels.
Calculating the required output displacement of each servo motor actuator 33 according to the road surface excitation;
in this embodiment, the pressure changes of the first rear axle 37 and the second rear axle 38 due to the excitation of the ground can be adjusted by the extension and contraction of the servo motor actuator 33. The controller is thus set to the formula:
u e ＝K p ′(F r1 -F r2 )
wherein u is e Controlling input displacement, K, for a servomotor actuator 33 p ' is a conversion coefficient which is set according to actual requirements, and thus is equivalent to a proportional regulator, and the elongation is calculated according to the load difference of the front wheel and the rear wheel.
Calculating the desired displacement of each servo motor actuator 33 by filtering the output displacement;
obtaining expected displacement u of actuator through second-order filter e ', the formula is as follows:
wherein: ζ is damping ratio, ω n In order to cut-off the frequency of the frequency,
is u e The first derivative of (a) is,
is u e The second derivative of (c).
Calculating the required output speed of each servo motor actuator 33 by using the difference between the expected displacement and the output displacement as an error through a proportional-integral controller;
the calculation formula of the proportional-integral controller is as follows:
wherein u is r For the actual input displacement, k, of the servomotor actuator 33 p Is a proportionality coefficient, k i Is an integral coefficient, t is an integral time;
the required output speed V' is calculated according to the following formula:
and controlling each servo motor actuator 33 to act according to the required output speed so as to realize the control of the wheel posture.
In the figure, the actuator is an actuator of the servo motor actuator 33, the servo motor is a servo motor of the servo motor actuator 33, and the chassis of the six-wheel vehicle is the vehicle frame 1.
The details of the present invention are not described in detail since they are prior art.
It is understood that the terms "a" and "an" should be interpreted as meaning "at least one" or "one or more," i.e., that a quantity of one element may be one in one embodiment, while a quantity of another element may be plural in other embodiments, and the terms "a" and "an" should not be interpreted as limiting the quantity.
Although the terms of frame 1, front axle system 2, rear axle system 3, electrical system 4, brake caliper 11, hub motor mounting axle 12, mounting panel 13, tie rod mounting lug 14, hub motor 15, brake disc 16, steering motor 21, horn 22, upper cross arm 23, first shock absorber 24, tie rod 25, lower cross arm 26, trailing arm 31, suspension mounting seat 32, servo motor actuator 33, second shock absorber 34, link 35, balance arm 36, first rear axle 37, second rear axle 38, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by anyone in the light of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as the present application, fall within the protection scope of the present invention.
Claims (9)
1. A unmanned line control six-wheel all-terrain attitude control vehicle is characterized by comprising a frame, a front shaft system, a rear shaft system and an electric system, wherein the front shaft system, the rear shaft system and the electric system are arranged on the frame;
the front axle system comprises two wheels, a front wheel edge system for driving and braking each wheel, a steer-by-wire system for driving the two wheels to steer and a front suspension system for damping and supporting;
the rear axle system comprises a rear suspension system connected with the frame, an attitude control system connected with the rear suspension system, and a first rear axle and a second rear axle which are respectively arranged at the front end and the rear end of the attitude control system, wherein each first rear axle and each second rear axle are provided with a wheel and a rear wheel edge system for driving and braking each wheel so as to form a six-wheel structure;
the electrical system is respectively and electrically connected with the front axle system and the rear axle system, is used for supplying electric energy and controlling the front axle system and the rear axle system, can receive acting force given to a tire by the ground, calculates a driving distance required by reacting force according to the acting force, controls the attitude control system to output and adjust the horizontal distance and the height distance between the first rear axle and the second rear axle through the driving distance, and realizes attitude control.
2. The unmanned line-controlled six-wheeled all-terrain attitude control vehicle as claimed in claim 1, wherein the rear suspension systems are arranged on the left and right sides of the frame, each rear suspension system comprises a trailing arm, a second shock absorber connecting the trailing arm and the frame, and a cantilever mounting seat for mounting the trailing arm on the frame, and the trailing arm and the cantilever mounting seat as well as the trailing arm and the attitude control system are rotatably connected.
3. The unmanned line control six-wheeled all-terrain attitude control vehicle according to claim 2, wherein the attitude control system comprises a servo motor actuator electrically connected with the electrical system, a balance arm rotatably connected with the trailing arm, and a connecting rod arranged between the servo motor actuator and the balance arm, the servo motor actuator is mounted on the frame, one end of the connecting rod is rotatably connected with an output end of the servo motor actuator, the other end of the connecting rod is connected with the top center of the balance arm, and the first rear shaft and the second rear shaft are respectively located at the front end and the rear end of the balance arm, so that the servo motor actuator can drive the balance arm to rotate through the connecting rod, and adjustment of the horizontal distance and the height distance between the first rear shaft and the second rear shaft is achieved.
4. A unmanned six-wheeled all terrain attitude control vehicle according to any one of claims 1 to 3, wherein the attitude control system obtains ground excitation through a pressure sensor to obtain the force imparted by the ground to the tires.
5. A unmanned six-wheeled all terrain attitude control vehicle according to any of claims 1-3, wherein each of the attitude control systems is individually controlled to operate.
6. A unmanned six-wheeled all terrain attitude control vehicle according to any of claims 1-3, wherein the front suspension system is a double wishbone independent suspension, and two first shock absorbers are provided on the double wishbone independent suspension, and are used for respectively absorbing shock at two wheels.
7. A unmanned six-wheeled all terrain attitude control vehicle according to any of claims 1-3, wherein each of the front wheel-side system and the rear wheel-side system includes a hub motor for driving a wheel to rotate, a brake disk and a brake caliper for braking the wheel, and a hub motor mounting shaft for connecting the hub motor and a shaft of the wheel.
8. A six-wheeled unmanned all-terrain attitude control vehicle according to any one of claims 1-3, wherein the steer-by-wire system comprises a steering motor and two tie rods each rotatably connected to an output shaft of the steering motor, and one end of each tie rod, which is remote from the steering motor, is connected to a portion of a corresponding wheel of the front suspension system.
9. A control method for a unmanned-control six-wheel all-terrain attitude control vehicle, which is used for carrying out attitude control on the unmanned-control six-wheel all-terrain attitude control vehicle as claimed in any one of claims 1 to 8, and comprises the following steps:
acquiring pressure data borne by each servo motor actuator;
calculating the output force of each servo motor actuator according to the pressure data, and reversely deducing the pavement excitation according to the output force;
calculating the output displacement required by each servo motor actuator according to the pavement excitation;
calculating the expected displacement of each servo motor actuator by filtering the output displacement;
calculating to obtain the required output speed of each servo motor actuator by using the difference between the expected displacement and the output displacement as an error through a proportional-integral controller;
and controlling each servo motor actuator to act according to the required output speed so as to realize the control of the wheel attitude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210899812.9A CN115465032A (en) | 2022-07-28 | 2022-07-28 | Unmanned-line-controlled six-wheel all-terrain attitude control vehicle and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210899812.9A CN115465032A (en) | 2022-07-28 | 2022-07-28 | Unmanned-line-controlled six-wheel all-terrain attitude control vehicle and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115465032A true CN115465032A (en) | 2022-12-13 |
Family
ID=84366632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210899812.9A Pending CN115465032A (en) | 2022-07-28 | 2022-07-28 | Unmanned-line-controlled six-wheel all-terrain attitude control vehicle and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115465032A (en) |
-
2022
- 2022-07-28 CN CN202210899812.9A patent/CN115465032A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101351354B (en) | Structure of drive wheel for vehicle | |
| CN105799503A (en) | Electric car chassis assembly capable of achieving four-wheel wheel-side-motor drive and four-wheel independent turning and control method | |
| CN106114669B (en) | A kind of swinging arm wheeled type unmanned ground vehicle | |
| CN108859732B (en) | Distributed hub-driven electric automobile chassis structure | |
| CN107738691B (en) | Timely four-wheel-drive composite steering system and multi-objective optimization method thereof | |
| CN107639986B (en) | A kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism | |
| CN113184053B (en) | Wire control chassis with adjustable transverse and longitudinal spacing and control method thereof | |
| CN112026910A (en) | Wire-controlled chassis platform applied to unmanned full-freedom steering | |
| CN108216363B (en) | Multidisciplinary optimization method of electric wheel automobile chassis integrated system | |
| CN207311590U (en) | A kind of independent steering structure that can improve four-wheel driving electric vehicle stability | |
| CN109911055B (en) | Unmanned obstacle surmounting vehicle | |
| CN205951653U (en) | Independent linkage of four -wheel and AC drive system of combined tractor | |
| CN112026777B (en) | Vehicle composite steering system and mode switching control method thereof | |
| CN110949498B (en) | Electric automobile and wheel hub structure of integrated steering and suspension | |
| CN116279806A (en) | Multi-axis drive-by-wire chassis capable of improving driving safety and coordination control method thereof | |
| CN206155561U (en) | Intelligence swizzle adaptive control system | |
| CN213322544U (en) | Active side-tipping system | |
| CN206900467U (en) | A kind of automobile chassis integrated system | |
| CN115465032A (en) | Unmanned-line-controlled six-wheel all-terrain attitude control vehicle and control method thereof | |
| CN115848164A (en) | Distributed driving high-performance six-wheel steering commercial vehicle intelligent chassis system and control method | |
| CN212500646U (en) | Wire-controlled chassis of unmanned vehicle | |
| CN213323321U (en) | Wire-controlled chassis platform applied to unmanned full-freedom steering | |
| CN111824256B (en) | Steer-by-wire system with adaptive fault-tolerant control function and control method thereof | |
| CN2105421U (en) | Balance suspension | |
| CN212124773U (en) | Disconnected wheel-side electric-driven steering independent suspension system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20221213 |
|
| WD01 | Invention patent application deemed withdrawn after publication |