CN201464188U - Model experiment device of automobile train track following study - Google Patents
Model experiment device of automobile train track following study Download PDFInfo
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- CN201464188U CN201464188U CN2009200982194U CN200920098219U CN201464188U CN 201464188 U CN201464188 U CN 201464188U CN 2009200982194 U CN2009200982194 U CN 2009200982194U CN 200920098219 U CN200920098219 U CN 200920098219U CN 201464188 U CN201464188 U CN 201464188U
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Abstract
The utility model relates to a model experiment device of the automobile train track following study, which consists of a power supply management module, a sensor module, a speed measuring module, a microcontroller, a steering engine angle adjusting module, a steering engine angle displaying module, a motor speed adjusting module, a motor speed displaying module and a motor driving module. The output ends of the sensor module, the steering engine angle adjusting module and the motor speed adjusting module are connected with the input end of the microcontroller. The output end of the microcontroller is respectively connected with the input ends of the motor driving module, the steering engine angle displaying module, the motor speed adjusting module and a steering engine. The output end of the motor driving module is connected with a motor which is connected with the input end of the speed measuring module the output end of which is connected with the microcontroller. Based on the track of the dynamics property of the automobile train, the utility model follows the running vehicle model and can simulate the actual running situation of the automobile train better.
Description
Technical field:
The utility model belongs to a kind of automobile active safety experimental facilities, particularly a kind of bath scaled model experimental device of truck combination track following Journal of Sex Research.
Background technology:
The scholar of most of both at home and abroad at present research automobile, train track following mainly is engaged in robotization or control field, their target mainly is an optimal control method, research object mostly is bicycle greatly, and for the truck combination dynamics to the influence of track following, the R and D of truck combination Trajectory Tracking Control device, and it is not deep enough to the research of truck combination track following, research object is the linear model that the vehicle movement model adopts two-freedom, Three Degree Of Freedom, and does not consider the dynamics of vehicle.
Summary of the invention:
The purpose of this utility model just is to provide a kind of bath scaled model experimental device of truck combination track following Journal of Sex Research, this device is based on the track of truck combination dynamics and follows the tracks of the driving vehicle model, better the actual motion situation of simulated automotive train.
The technical solution of the utility model is: a kind of bath scaled model experimental device of truck combination track following Journal of Sex Research is characterized in that: be made up of power management module, sensor assembly, speed measuring module, microcontroller, steering wheel angular setting module, steering wheel angle display module, motor speed speed adjusting module, motor speed display module and motor drive module; The output terminal of sensor assembly, steering wheel angle speed adjusting module and motor speed speed adjusting module is connected with the input end of microcontroller, and the output terminal of microcontroller connects the input end of motor drive module, steering wheel angle display module, motor speed speed adjusting module and steering wheel respectively; The output terminal of motor drive module connects motor, and motor is connected with the input end of speed measuring module, and the output terminal of speed measuring module is connected with microcontroller.
The sensor module adopts photoelectric sensor.
Above-mentioned motor drive module is the combination of L298 and H bridge circuit.
Above-mentioned speed measuring module speed measuring module detects by a photoelectric tube, and U3 is the optocoupler that is used for Signal Spacing, and the speed of detection is amplified through 741, by PT0 signal is passed to single-chip microcomputer.
The utility model has the advantages that: track following driving vehicle model and truck combination track following optimization control scheme based on the truck combination dynamics will provide new ways and means for truck combination Trajectory Tracking Control problem.In the model of truck combination, respectively tractor, semitrailer have been carried out dynamic (dynamical) model analysis, with respect to former two-freedom, the linear model of Three Degree Of Freedom, the actual motion situation of the better simulated automotive train of energy.
Description of drawings:
Fig. 1 is a structured flowchart of the present utility model.
Fig. 2 is a schematic diagram of the present utility model.
Embodiment:
As shown in Figure 1: a kind of bath scaled model experimental device of truck combination track following Journal of Sex Research is characterized in that: be made up of power management module, sensor assembly, speed measuring module, microcontroller, steering wheel angular setting module, steering wheel angle display module, motor speed speed adjusting module, motor speed display module and motor drive module; The output terminal of sensor assembly, steering wheel angle speed adjusting module and motor speed speed adjusting module is connected with the input end of microcontroller, and the output terminal of microcontroller connects the input end of motor drive module, steering wheel angle display module, motor speed speed adjusting module and steering wheel respectively; The output terminal of motor drive module connects motor, and motor is connected with the input end of speed measuring module, and the output terminal of speed measuring module is connected with microcontroller.
As shown in Figure 2: power module 7805 is used for the power supply that voltage stabilizing is output as 5v, is used for providing the power supply of 5v to chip.Two row's light emitting diodes are photoelectric sensors, and a row is used to send signal, and a row is used for received signal.The magnitude of voltage difference of no signal output is arranged, and single-chip microcomputer carries out the judgement of route by the value that AD gathers AN00～AN07.Following S3S4 (PA0PA1) is used for the adjustment of steering wheel angle, and one is used to add wide-angle, and one is used to reduce angle, and S5S6 (PA2PA3) is used for the adjustment of motor speed, and one is used for quickening, and one is used for slowing down.Charactron PM0～PM3 is used for sheet and selects charactron, and PH0～PH7 is used for the single-chip microcomputer video data, and preceding two is to show the current speed of dolly, and latter two is used to the angle that shows that steering wheel is current.L298 is motor drive ic and the combination of H bridge circuit, drive motor work.The speed of PP2 (pwm signal) control motor.Below JP2 be used for the voltage given of steering wheel because the voltage of steering wheel is about 6v, so 7.2v is with a diode dividing potential drop during voltage of battery, PP1 (pwm signal) is used to control the angle of steering wheel.Speed measuring module detects by a photoelectric tube, and U3 is an optocoupler, is used for Signal Spacing.The speed that detects is amplified through 741, by PT0 signal is passed to single-chip microcomputer.
The pin that the design adopts Tsing-Hua University's development board to indicate corresponding name connects, and controls and data transmission with program.
Claims (4)
1. the bath scaled model experimental device of a truck combination track following Journal of Sex Research is characterized in that: be made up of power management module, sensor assembly, speed measuring module, microcontroller, steering wheel angular setting module, steering wheel angle display module, motor speed speed adjusting module, motor speed display module and motor drive module; The output terminal of sensor assembly, steering wheel angle speed adjusting module and motor speed speed adjusting module is connected with the input end of microcontroller, and the output terminal of microcontroller connects the input end of motor drive module, steering wheel angle display module, motor speed speed adjusting module and steering wheel respectively; The output terminal of motor drive module connects motor, and motor is connected with the input end of speed measuring module, and the output terminal of speed measuring module is connected with microcontroller.
2. the bath scaled model experimental device of truck combination track following Journal of Sex Research according to claim 1 is characterized in that: the sensor module adopts photoelectric sensor.
3. the bath scaled model experimental device of truck combination track following Journal of Sex Research according to claim 1 is characterized in that: above-mentioned motor drive module is the combination of L298 and H bridge circuit.
4. the bath scaled model experimental device of truck combination track following Journal of Sex Research according to claim 1, it is characterized in that: above-mentioned speed measuring module speed measuring module detects by a photoelectric tube, U3 is the optocoupler that is used for Signal Spacing, the speed that detects is amplified through 741, by PT0 signal is passed to single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200982194U CN201464188U (en) | 2009-08-04 | 2009-08-04 | Model experiment device of automobile train track following study |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200982194U CN201464188U (en) | 2009-08-04 | 2009-08-04 | Model experiment device of automobile train track following study |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201464188U true CN201464188U (en) | 2010-05-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009200982194U Expired - Fee Related CN201464188U (en) | 2009-08-04 | 2009-08-04 | Model experiment device of automobile train track following study |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201464188U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107271167A (en) * | 2017-07-03 | 2017-10-20 | 南京中车浦镇城轨车辆有限责任公司 | Tramcar jumper motion simulation flexibility platform |
-
2009
- 2009-08-04 CN CN2009200982194U patent/CN201464188U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107271167A (en) * | 2017-07-03 | 2017-10-20 | 南京中车浦镇城轨车辆有限责任公司 | Tramcar jumper motion simulation flexibility platform |
| CN107271167B (en) * | 2017-07-03 | 2019-07-02 | 南京中车浦镇城轨车辆有限责任公司 | Tramcar jumper movement simulation flexibility platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100512 Termination date: 20110804 |