CN116161106A - Control system and method for front-mounted driving steering of double steering wheels - Google Patents
Control system and method for front-mounted driving steering of double steering wheels Download PDFInfo
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- 241000486463 Eugraphe sigma Species 0.000 claims 2
- 230000001360 synchronised effect Effects 0.000 abstract description 5
- 230000007547 defect Effects 0.000 abstract description 2
- 238000011217 control strategy Methods 0.000 description 2
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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
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
- B62D1/283—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers for unmanned vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a control system for front-mounted driving and steering of double steering wheels, which comprises a manual box, wherein the manual box converts the driving intention of a driver into a speed analog quantity and an angle analog quantity for voltage signal transmission; the control signal input end of the vehicle controller is connected with the voltage signal output end of the manual box; the first steering wheel and the second steering wheel are arranged at the head position of the power flat car in parallel at intervals; the control signal input end of the controller assembly is connected with the control signal output end of the vehicle controller; and the signal input end of the steering wheel assembly is connected with the control signal output end of the controller assembly. The invention overcomes the defect that completely synchronous straight walking and asynchronously matched turning walking are realized on a vehicle body without a steering axle and a driving axle.
Description
Technical Field
The invention relates to the technical field of power flat plates or backpack AGVs, in particular to a control system and a method for front-mounted driving steering of double steering wheels.
Background
The power flat plate or the backpack AGV (Automated Guided Vehicle, unmanned carrier) is generally used for factory logistics transferring links, and because articles transported by the power flat plate or the backpack AGV do not have regularity and uniformity, the factory is required to customize the table surface size of the vehicle when purchasing the vehicle, so that equipment manufacturers need to develop a special steering axle and a driving axle according to market personalized requirements, the development period is long, and the newly developed products cannot be subjected to sufficient tests and market verification, so that the reliability of the products cannot be guaranteed.
Therefore, research and development of a power flat plate or backpack AGV for realizing completely synchronous straight walking and asynchronously matched turning walking are important under the premise of no steering axle and no driving axle.
Disclosure of Invention
The invention aims to provide a control system and a control method for front-mounted driving steering of double steering wheels, which enable a power flat plate or a knapsack AGV to reasonably arrange steering wheel positions according to any size of a vehicle body, thereby meeting the requirements of optimizing a control strategy between steering wheel driving and steering according to steering wheel arrangement wheelbase and wheelbase on the vehicle body without a steering axle and a driving axle, and realizing completely synchronous straight line walking and asynchronous matched turning walking.
In order to solve the technical problems, the invention provides a control system for front-mounted driving and steering of double steering wheels, which comprises a power flat car and a manual box, wherein the manual box converts the driving intention of a driver into a speed analog quantity and an angle analog quantity for voltage signal transmission; the control signal input end of the vehicle controller is connected with the voltage signal output end of the manual box and is used for converting the voltage signal transmitted by the manual box into a specific speed value V and an angle value sigma; the first steering wheel and the second steering wheel are arranged at the head position of the power flat car in parallel at intervals; the control signal input end of the controller assembly is connected with the control signal output end of the vehicle controller; the signal input end of the steering wheel assembly is connected with the control signal output end of the controller assembly and is used for executing the running speed and the steering angle of the first steering wheel and the second steering wheel.
Further, the controller assembly comprises a first steering controller for driving the first steering wheel steering motor and a first driving controller for driving the first steering wheel walking motor; the steering system further comprises a second driving controller for driving the second steering wheel traveling motor and a second steering controller for driving the second steering wheel steering motor.
Further, the first driving controller and the second driving controller are used for receiving a speed command sent by the vehicle controller.
Further, the first steering controller and the second steering controller are used for receiving an angle instruction sent by the vehicle controller.
Further, the steering wheel assembly comprises an alternating current motor for driving walking and an alternating current motor for driving steering.
Further, the alternating current motor is provided with an incremental encoder for feeding back the real-time rotating speed of the motor.
Furthermore, absolute value encoders for feeding back the real-time steering angle of the steering wheel are additionally arranged on the first steering wheel and the second steering wheel.
Further, a control method for front-drive steering of double steering wheels comprises the following steps:
s1, the vehicle controller converts the voltage signal transmitted by the manual box into a specific speed command V and an angle command sigma according to the voltage signal;
s2, decomposing the angle command sigma into an inner wheel angle sigma according to the vehicle body wheelbase L and the wheel base K of the power flat car Inner part And an outer wheel angle sigma Outer part Decomposing the speed command V into an inner wheel speed V Inner part And the outer wheel speed V Outer part ；
And S3, the vehicle controller calculates the speed and the angle of the two steering wheels at the vehicle head position according to the magnitude relation between the angle command sigma and 0 degrees.
And S4, after the vehicle controller calculates the speeds and angles of the two steering wheels, the vehicle controller distributes the speed command and the angle command to the corresponding driving controller and steering controller through CAN communication.
S5, after receiving the speed command, the driving controller drives the walking motor to work, and then, speed loop control is carried out according to the feedback rotating speed signal of the incremental encoder; and after receiving the angle instruction, the steering controller drives the steering motor to work and then performs position loop control according to the feedback position signal of the absolute value encoder.
Further, the step S2 is a decomposition according to the following formula:
further, the step S3 controls the running state of the whole vehicle according to the following control operation:
s31: when sigma is less than 0 deg.,
s31a, the vehicle controller judges that the whole vehicle is in a left turning state, namely a left steering wheel of the vehicle head is an inner wheel, and a right steering wheel of the vehicle head is an outer wheel;
s31b, the vehicle controller makes the inner wheel angle sigma Inner part And velocity V Inner part To the left wheel, the outer wheel angle sigma Outer part And velocity V Outer part Assigned to right wheel, execute sigma Left side ＝σ Inner part ，σ Right side ＝σ Outer part ，V Left side ＝V Inner part ，V Right side ＝V Outer part 。
S32: when sigma is greater than 0 deg.,
s32a, the vehicle controller judges that the whole vehicle is in a right turning state, namely, a steering wheel at the right end of the vehicle is an inner wheel, and a steering wheel at the left end of the vehicle is an outer wheel;
s32b, the vehicle controller sets an inner wheel angle sigma Inner part And velocity V Inner part To the right wheel, outer wheel angle sigma Outer part And velocity V Outer part Assigned to left wheel, execute sigma Right side ＝σ Inner part ，σ Left side ＝σ Outer part ，V Right side ＝V Inner part ，V Left side ＝V Outer part 。
S33: when σ=0°,
s33a, the vehicle controller judges that the whole vehicle is in a straight running state,
s33b, the vehicle controller assigns 0 degrees to the two steering wheels of the vehicle head, and executes sigma Right side ＝0°，σ Left side ＝0°，V Right side ＝V Outer part ＝。
Compared with the prior art, the invention has the following beneficial effects:
the vehicle control system of the invention realizes the control of the front double-steering wheel walking motor and the steering motor by the driving controller and the steering controller through the control operation judgment of the angle instruction transmitted by the manual operation box, and overcomes the defect that the completely synchronous straight walking and the asynchronously matched turning walking are realized on the vehicle body without the steering axle and the driving axle.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the steering wheel with an absolute encoder according to the present invention;
FIG. 3 is a schematic view of the structure of the controller assembly of the present invention attached to the vehicle body;
FIG. 4 is a schematic view of the angle and speed conversion of the present invention;
FIG. 5 is a flow chart of the control system of the present invention;
FIG. 6 is a flow chart of a vehicle controller control strategy of the present invention.
In the figure: 1. a first steering wheel; 2. a second steering wheel; 3. an alternating current motor for driving the steering; 4. an alternating current motor for driving walking; 5. an absolute value encoder; 6. a first steering controller; 7. a first drive controller; 8. a second drive controller; 9. a second steering controller; 10. an incremental encoder; 11. a power flat car.
Detailed Description
In order to make the technical solutions and technical effects of the present invention more clear, 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, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments.
As shown in fig. 1, a power flat plate 11 is provided with two front wheels and two rear wheels, and the two steering wheels are two front wheels, namely a first steering wheel 1 and a second steering wheel 2, which are arranged at intervals in parallel on a vehicle head. Two fixed wheels are arranged at the tail of the vehicle and used as rear wheels. In the following description, for example, when the entire vehicle is turning left, the first steering wheel 1 is a left steering wheel, i.e., an inner wheel; the second steering wheel 2 is a right steering wheel, i.e. an outer wheel.
As shown in fig. 2, the steering wheel assembly in the invention is provided with two three-phase alternating current asynchronous motors, one for driving and walking, one for driving and steering, namely an alternating current motor 4 for driving and walking and an alternating current motor 3 for driving and steering. The walking alternating current motor 4 is provided with an incremental encoder 10 for feeding back the real-time speed of the motor. An absolute value encoder 5 is additionally arranged on the steering wheel and used for feeding back the real-time steering angle of the steering wheel and transmitting the real-time speed and the angle to a vehicle controller, and the vehicle controller performs closed-loop control according to the difference value between the real-time feedback signal and the command signal to realize PID control on the motor.
As shown in fig. 3, the power panel is provided with a controller assembly, specifically comprising a first steering controller 6 for driving a first steering wheel steering motor and a first driving controller 7 for driving a first steering wheel running motor; a driving controller 8 for driving the second steering wheel travel motor, and a second steering controller 9 for driving the second steering wheel steering motor. The vehicle controller sends a speed command to the two alternating current driving controllers, and the driving controllers control steering wheels to walk according to the command speed. The vehicle controller sends an angle instruction to the two steering controllers, and the steering controllers control steering wheels to turn according to the instruction angle, so that the power flat plate is driven to run.
The power flat plate 11 is provided with a manual box for a driver to control the power flat plate 11 to run, the manual box is provided with corresponding switch signals for transmitting the driving intention of the driver to the vehicle controller, and the vehicle controller controls the power flat plate to run according to the manual box signals.
As shown in fig. 5 and 6, the specific steps of the control method for the front drive steering of the double steering wheel of the present invention are as follows:
first, the driver manipulates the manual box, the manual box converts the driving intention of the driver into a speed analog quantity and an angle analog quantity, the speed analog quantity and the angle analog quantity are transmitted to the vehicle controller through the voltage signal, and the vehicle controller converts the voltage signal into a specific speed value V and an angle value sigma.
Second, the vehicle controller decomposes the angle command sigma into the inner wheel angle sigma according to the actual wheel base K and wheel base L of the power flat plate 11 Inner part And an outer wheel angle sigma Outer part Decomposing the speed command V into an inner wheel speed V Inner part And the outer wheel speed V Outer part The specific decomposition formula is as follows:
thirdly, the vehicle controller performs the following control operation according to the relation between the command angle sigma and 0 degree:
operation 1: when sigma is less than 0 degree, the vehicle controller judges that the whole vehicle is in a left turning state, namely, the left steering wheel of the vehicle is an inner wheel. At this time, the vehicle controller assigns the inner wheel angle and speed to the left wheel, the outer wheel angle and speed to the right wheel, and executes sigma Left side ＝σ Inner part ，σ Right side ＝σ Outer part ，V Left side ＝V Inner part ，V Right side ＝V Outer part 。
Operation 2:when sigma is more than 0 degree, the vehicle controller judges that the whole vehicle is in a right turning state, namely, the right steering wheel of the vehicle is an inner wheel. At this time, the vehicle controller assigns an inner wheel angle to the right wheel, an outer wheel angle to the left wheel, and performs sigma Right side ＝σ Inner part ，σ Left side ＝σ Outer part ，V Right side ＝V Inner part ，V Left side ＝V Outer part 。
Operation 3: when sigma=0°, the vehicle controller judges that the whole vehicle is in a straight running state, and the vehicle controller assigns 0 ° to the left steering wheel and the right steering wheel to execute sigma Right side ＝0°，σ Left side ＝0°，V Right side ＝V Outer part ＝。
Description: v is a steering wheel speed instruction in the formula; v (V) Inner part Is the speed of the inner steering wheel; v (V) Outer part Is the speed of the outer steering wheel; v (V) Left side Is the speed of the left steering wheel; v (V) Right side Is the right steering wheel speed; sigma is a steering wheel angle instruction; sigma (sigma) Inner part Is the angle of the inner steering wheel; sigma (sigma) Outer part Is the angle of the outer steering wheel; sigma (sigma) Left side Is the left steering wheel angle; sigma (sigma) Right side Right steering wheel angle.
And fourthly, after the vehicle controller calculates the speed and the angle of the left steering wheel and the right steering wheel, distributing a speed instruction and an angle instruction to the corresponding controllers through CAN communication, driving the walking motor to work after the driving controller receives the speed instruction, and then performing speed loop control according to the feedback rotating speed signal of the incremental encoder. And after the steering controller receives the angle instruction, driving the steering motor to work, and then performing position loop control according to the feedback position signal of the absolute value encoder.
The invention can realize completely synchronous straight walking and asynchronously matched turning walking according to the operation of a driver on a vehicle body without a steering axle and a driving axle. And the differential angle between the double steering wheels accords with the steering trapezium in the turning process, so that the conditions of biting and grinding the tires are avoided, and the steering is flexible and convenient. The double-rudder-wheel driving steering system can also realize the drive-by-wire control of the vehicle body, and meet the requirements of post-modification of AGVs. Meanwhile, the control system can realize the nonstandard customization of any table-board size by modifying the wheel base and wheel track parameters in the vehicle controller program, and a special steering component and a driving component are not required to be developed according to each customization requirement.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The control system for the front-mounted driving steering of the double rudder wheels comprises a power flat car (11), and is characterized by further comprising:
the manual box converts the driving intention of a driver into a speed analog quantity and an angle analog quantity for voltage signal transmission;
the control signal input end of the vehicle controller is connected with the voltage signal output end of the manual box and is used for converting the voltage signal transmitted by the manual box into a specific speed value V and an angle value sigma;
the first steering wheel (1) and the second steering wheel (2) are arranged at the head position of the power flat car (11) at intervals in parallel;
the control signal input end of the controller assembly is connected with the control signal output end of the vehicle controller; and
the signal input end of the steering wheel assembly is connected with the control signal output end of the controller assembly and is used for executing the running speed and the steering angle of the first steering wheel (1) and the second steering wheel (2).
2. The control system for dual steering wheel front drive steering according to claim 1, wherein the controller assembly comprises a first steering controller (6) driving the steering motor of the first steering wheel (1) and a first driving controller (7) driving the travelling motor of the first steering wheel (1); the steering system also comprises a second driving controller (8) for driving the travelling motor of the second steering wheel (2) and a second steering controller (9) for driving the steering motor of the second steering wheel (2).
3. The control system for dual steering front drive steering according to claim 2, wherein the first drive controller (7) and the second drive controller (8) are configured to receive a speed command sent from the vehicle controller.
4. The control system for dual steering wheel front drive steering according to claim 2, wherein the first steering controller (6) and the second steering controller (9) are configured to receive an angle command sent from the vehicle controller.
5. The control system for dual steering wheel front drive steering according to claim 1, wherein the steering wheel assembly comprises an ac motor (4) for driving travel and an ac motor (3) for driving steering.
6. The control system for dual steering wheel front drive steering according to claim 5, wherein the ac motor (4) is provided with an incremental encoder (10) for feeding back the real-time rotational speed of the motor.
7. The control system for front-drive steering of double steering wheels according to claim 1, wherein absolute value encoders (5) for feeding back the steering angle of the steering wheels in real time are additionally arranged on the first steering wheel (1) and the second steering wheel (2).
8. A control method of double rudder front-drive steering, comprising the control system according to any one of claims 1 to 7, characterized in that the control method comprises the steps of:
s1, the vehicle controller converts the voltage signal transmitted by the manual box into a specific speed command V and an angle command sigma according to the voltage signal;
s2, decomposing the angle command sigma into an inner wheel angle sigma according to the vehicle body wheelbase L and the wheel base K of the power flat car Inner part And an outer wheel angle sigma Outer part Decomposing the speed command V into an inner wheel speed V Inner part And the outer wheel speed V Outer part ；
And S3, the vehicle controller calculates the speed and the angle of the two steering wheels at the vehicle head position according to the magnitude relation between the angle command sigma and 0 degrees.
And S4, after the vehicle controller calculates the speeds and angles of the two steering wheels, the vehicle controller distributes the speed command and the angle command to the corresponding driving controller and steering controller through CAN communication.
S5, after receiving the speed command, the driving controller drives the walking motor to work, and then, the speed loop control is carried out according to the feedback rotating speed signal of the incremental encoder (10); after receiving the angle instruction, the steering controller drives the steering motor to work, and then, the position loop control is carried out according to the feedback position signal of the absolute value encoder (5).
9. The control method for dual steering wheel front drive steering according to claim 8, wherein the step S2 is a decomposition according to the following formula:
inner wheel speed
Outer wheel speed->
Inner wheel angle sigma Inner part =arcot (cot σ -K2L), outer wheel angle σ Outer part ＝arccot(cotσ+K2L)。
10. The control method for dual steering wheel front drive steering according to claim 8, wherein the step S3 controls the running state of the whole vehicle according to the following control operation:
s31: when sigma is less than 0 deg.,
s31a, the vehicle controller judges that the whole vehicle is in a left turning state, namely a left steering wheel of the vehicle head is an inner wheel, and a right steering wheel of the vehicle head is an outer wheel;
s31b, the vehicle controller makes the inner wheel angle sigma Inner part And velocity V Inner part To the left wheel, the outer wheel angle sigma Outer part And velocity V Outer part Assigned to the right wheel, i.e. sigma Left side ＝σ Inner part ，σ Right side ＝σ Outer part ，V Left side ＝V Inner part ，V Right side ＝V Outer part 。
S32: when sigma is greater than 0 deg.,
s32a, the vehicle controller judges that the whole vehicle is in a right turning state, namely, a steering wheel at the right end of the vehicle is an inner wheel, and a steering wheel at the left end of the vehicle is an outer wheel;
s32b, the vehicle controller sets an inner wheel angle sigma Inner part And velocity V Inner part To the right wheel, outer wheel angle sigma Outer part And velocity V Outer part Assigned to the left wheel, i.e. sigma Right side ＝σ Inner part ，σ Left side ＝σ Outer part ，V Right side ＝V Inner part ，V Left side ＝V Outer part 。
S33: when σ=0°,
s33a, the vehicle controller judges that the whole vehicle is in a straight running state,
s33b, the vehicle controller assigns 0 degrees to the two steering wheels of the vehicle head, namely sigma Right side ＝0°，σ Left side ＝0°，V Right side ＝V Outer part ＝。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310254030.4A CN116161106A (en) | 2023-03-13 | 2023-03-13 | Control system and method for front-mounted driving steering of double steering wheels |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310254030.4A CN116161106A (en) | 2023-03-13 | 2023-03-13 | Control system and method for front-mounted driving steering of double steering wheels |
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| CN202310254030.4A Pending CN116161106A (en) | 2023-03-13 | 2023-03-13 | Control system and method for front-mounted driving steering of double steering wheels |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110224872A1 (en) * | 2010-03-10 | 2011-09-15 | Genie Industries, Inc. | System And Method To Control Vehicle Steering |
| CN106080605A (en) * | 2016-08-23 | 2016-11-09 | 南京越博动力系统股份有限公司 | A kind of wheel torque distribution method based on forerunner's wheel hub motor |
| JP2021091401A (en) * | 2021-02-04 | 2021-06-17 | 日本電産シンポ株式会社 | Driving wheel unit and automatic transportation dolly |
| CN113277112A (en) * | 2021-06-30 | 2021-08-20 | 中国船舶重工集团公司第七一三研究所 | Intelligent omnidirectional airport luggage conveying and rotating platform control system |
| CN217320510U (en) * | 2022-02-28 | 2022-08-30 | 西安优艾智合机器人科技有限公司 | Chassis for automatic guided vehicle, automatic guided vehicle and robot |
-
2023
- 2023-03-13 CN CN202310254030.4A patent/CN116161106A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110224872A1 (en) * | 2010-03-10 | 2011-09-15 | Genie Industries, Inc. | System And Method To Control Vehicle Steering |
| CN106080605A (en) * | 2016-08-23 | 2016-11-09 | 南京越博动力系统股份有限公司 | A kind of wheel torque distribution method based on forerunner's wheel hub motor |
| JP2021091401A (en) * | 2021-02-04 | 2021-06-17 | 日本電産シンポ株式会社 | Driving wheel unit and automatic transportation dolly |
| CN113277112A (en) * | 2021-06-30 | 2021-08-20 | 中国船舶重工集团公司第七一三研究所 | Intelligent omnidirectional airport luggage conveying and rotating platform control system |
| CN217320510U (en) * | 2022-02-28 | 2022-08-30 | 西安优艾智合机器人科技有限公司 | Chassis for automatic guided vehicle, automatic guided vehicle and robot |
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