CN209257868U - A kind of chassis structure of mute machine - Google Patents
A kind of chassis structure of mute machine Download PDFInfo
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- CN209257868U CN209257868U CN201821785654.XU CN201821785654U CN209257868U CN 209257868 U CN209257868 U CN 209257868U CN 201821785654 U CN201821785654 U CN 201821785654U CN 209257868 U CN209257868 U CN 209257868U
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Abstract
The utility model discloses a kind of chassis structures of mute machine to drive driven wheel and chassis mobile using the hub motor for installing encoder additional as driving wheel；Using drive module by In-wheel motor driving driving wheel under the control of control processing module, and exported by the rotational parameters that encoder obtains hub motor to control processing module；The rotation of driving wheel is controlled so that chassis is mobile, so that the movement routine on chassis is adjusted and be controlled by drive module using control processing module.There is no transmission mechanism to improve the efficiency of transmission in the utility model, wheel is two-in-one with motor, simplify the structure on chassis, reduce components cost, and since the rotational noise of hub motor is small, mute effect is realized, mute occasion can needed to use using the robot on chassis in this programme.
Description
Technical field
The utility model relates to automatic control technology field more particularly to a kind of chassis structures of mute machine.
Background technique
Common robot chassis is generally made of two sets of (or three sets) car wheel structures and auxiliary wheel currently on the market, vehicle
Wheel construction generally comprises: high-speed motor, retarder and wheel, needs to add a chassis control using two or three electric machine controllers
Device processed.The part category and quantity that this mode uses are more, lead to system complex, at high cost, and due to part connection zero
The revolving speed of part causes noise big compared with high, and transmission link is more to lead to low efficiency, is not suitable for that mute occasion is being required to use.
Shown in sum up, chassis exists in the prior art structure is complicated, the problem of at high cost and noise is big, low efficiency.
Utility model content
The utility model embodiment provides a kind of chassis structure of mute machine, it is intended to solve existing in the prior art
The problem of structure is complicated on chassis, at high cost and noise is big, low efficiency.
The utility model embodiment provides a kind of chassis structure of mute machine, including chassis, is provided with master on chassis
Driving wheel, driven wheel, control processing module and drive module, driving wheel include hub motor and encoder.
Control processing module is connect with drive module, and drive module is connect with hub motor and encoder respectively, wheel hub electricity
Machine is connected with encoder.
Driving wheel drives driven wheel and chassis mobile.
Drive module by In-wheel motor driving driving wheel under the control of control processing module, and is obtained by encoder
The rotational parameters of hub motor are taken to export to control processing module.
Processing module is controlled, the rotation of driving wheel is controlled by drive module so that chassis is mobile, and the movement to chassis
Path is adjusted and controls.
In one embodiment, there are two driving wheel, respectively the first driving wheel and the second masters for setting on the bottom surface on chassis
Driving wheel, the first driving wheel and the second driving wheel are symmetrically distributed in the two sides of the central axes of bottom surface, and the first driving wheel includes the first round
Hub motor and the first encoder, the second driving wheel include the second hub motor and second encoder.
In one embodiment, drive module includes first motor driving unit and the second electric-motor drive unit, the first electricity
Machine driving unit is connect with the first driving wheel, and the second electric-motor drive unit is connect with the second driving wheel.
Control processing module includes first motor control unit and the second motor control unit, first motor control unit with
The connection of first motor driving unit, the second motor control unit are connect with the second electric-motor drive unit.
First motor control unit is controlled the rotation of the first driving wheel by first motor driving unit, and passes through first
Electric-motor drive unit samples the rotational parameters of the first driving wheel.
Second motor control unit is controlled the rotation of the second driving wheel by the second electric-motor drive unit, and passes through second
Electric-motor drive unit samples the rotational parameters of the second driving wheel.
In one embodiment, control processing module further includes speed computing unit, and speed computing unit is respectively with first
Motor control unit and the connection of the second motor control unit.
Speed computing unit obtains the rotational angular velocity of the first driving wheel that first motor control unit samples and the
The rotational angular velocity for the second driving wheel that two motor control units sample, and calculate the movement speed and angular speed on chassis.
In one embodiment, control processing module further includes differential control unit, differential control unit respectively with speed
Computing unit, first motor control unit are connected with the second motor control unit.
Differential control unit, the movement speed and angular speed on the chassis that acquisition speed computing unit obtains, and export wheel speed
Data are controlled to first motor control unit and the second motor control unit, with the rotation to the first driving wheel and the second driving wheel
Parameter is adjusted separately to run chassis according to default motion track.
In one embodiment, control processing module further includes FOC vector control unit and PID speed control unit, PID
Speed control unit is connect with differential control unit and FOC vector control unit respectively, and FOC vector control unit is respectively with first
Motor control unit and the connection of the second motor control unit.
PID speed control unit obtains the current rotational parameters of wheel speed control data and driving wheel, and according to current
Rotational parameters carry out closed loop feedback adjusting to wheel speed control data, and the wheel speed after output is adjusted controls data.
FOC vector control unit obtains the wheel speed control data after adjusting and is converted into vector, to hub motor
Carry out vector controlled.
In one embodiment, gyro sensor is additionally provided on chassis, gyro sensor and control processing module are logical
Cross communication interface connection.
The angular speed on the chassis measured is sent to control processing module by gyro sensor, so that control processing module
The movement routine on the chassis of calculating is corrected.
In one embodiment, the chassis structure of the mute machine further includes communication interface modules, communication interface mould
Block is connect with control processing module and gyro sensor respectively.
In one embodiment, the chassis structure of the mute machine further includes power module, power module respectively with
Driving wheel, control processing module connect with drive module, and respectively provide the supply voltage of work for it.
In one embodiment, power module includes sequentially connected battery unit, DC voltage converting unit and linear
Voltage regulation unit.
Existing beneficial effect is the utility model embodiment compared with prior art: using the wheel hub electricity for installing encoder additional
Machine drives driven wheel and chassis mobile as driving wheel；Pass through wheel hub under the control of control processing module using drive module
Motor driven driving wheel, and exported by the rotational parameters that encoder obtains hub motor to control processing module；Use control
Processing module controls the rotation of driving wheel so that chassis is mobile, and calculates the shifting on chassis according to rotational parameters by drive module
Dynamic path does not have transmission mechanism to improve the effect of transmission so that the movement routine on chassis is adjusted and be controlled in this programme
Rate, wheel is two-in-one with motor, simplifies the structure on chassis, reduces components cost, and due to the rotation of hub motor
Noise is small, realizes mute effect, mute occasion can needed to use using the robot on chassis in this programme.
Detailed description of the invention
In order to illustrate more clearly of the technical scheme in the embodiment of the utility model, will make below to required in embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are merely some embodiments of the present invention,
For those of ordinary skill in the art, without any creative labor, it can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram of the chassis structure for the mute machine that one embodiment of the utility model provides；
Fig. 2 is the structural schematic diagram on the chassis that one embodiment of the utility model provides；
Fig. 3 is the structural schematic diagram of the chassis structure for the mute machine that another embodiment of the utility model provides.
Specific embodiment
In order to make those skilled in the art more fully understand this programme, below in conjunction with attached in this programme embodiment
Figure, is explicitly described the technical solution in this programme embodiment, it is clear that described embodiment is this programme a part
Embodiment, instead of all the embodiments.Based on the embodiment in this programme, those of ordinary skill in the art are not being made
The range of this programme protection all should belong in every other embodiment obtained under the premise of creative work.
The specification and claims of this programme and term " includes " and other any deformations in above-mentioned attached drawing are
Refer to " including but not limited to ", it is intended that cover and non-exclusive include.In addition, term " first " and " second " etc. are for distinguishing
Different objects, not for description particular order.
In the description of the present invention, it should be understood that term " on ", "lower", "front", "rear", "left", "right",
The orientation or positional relationship of the instructions such as "vertical", "horizontal", "top", "bottom" "inner", "outside" be orientation based on the figure or
Positional relationship is merely for convenience of describing the present invention and simplifying the description, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
The realization of the utility model is described in detail below in conjunction with specific attached drawing:
Fig. 1 shows a kind of structure of the chassis structure of mute machine provided by an embodiment of the present invention, in order to
Convenient for explanation, part relevant to the utility model embodiment is illustrated only, details are as follows:
As shown in Figure 1, a kind of chassis structure of mute machine provided by the utility model embodiment, including chassis, bottom
It includes hub motor that driving wheel 100, driven wheel 200, control processing module 300 and drive module 400, driving wheel are provided on disk
And encoder.
Control processing module is connect with drive module, and drive module is connect with hub motor and encoder respectively, wheel hub electricity
Machine is connected with encoder.
Driving wheel, for driving driven wheel and chassis mobile.
Drive module for passing through In-wheel motor driving driving wheel under the control of control processing module, and passes through coding
The rotational parameters that device obtains hub motor are exported to control processing module.
Control processing module, for controlling the rotation of driving wheel by drive module so that chassis is mobile, and according to turn
Dynamic parameter calculates the movement routine on chassis, and the movement routine on chassis is adjusted and is controlled.
In one embodiment, the model STM32F407 of processing module is controlled.
In one embodiment, the rotational parameters include rotational angular velocity, rotation direction, current of electric and motor electricity
Pressure.
In the utility model embodiment, using the hub motor for installing encoder additional as driving wheel, driven wheel and bottom are driven
Disk is mobile；Using drive module by In-wheel motor driving driving wheel under the control of control processing module, and pass through encoder
The rotational parameters for obtaining hub motor are exported to control processing module；It is controlled actively using control processing module by drive module
The rotation of wheel is so that chassis is mobile, and calculates the movement routine on chassis according to rotational parameters, thus to the movement routine on chassis
It is adjusted and controls, there is no transmission mechanism to improve the efficiency of transmission in this programme, wheel is two-in-one with motor, simplifies bottom
The structure of disk reduces components cost, and since the rotational noise of hub motor is small, realizes mute effect, uses
The robot on chassis can need mute occasion to use in this programme, such as library, workplace etc..
As shown in Fig. 2, there are two driving wheels for setting on the bottom surface on chassis in one embodiment of the utility model, divide
Not Wei the first driving wheel 110 and the second driving wheel 120, the first driving wheel and the second driving wheel are symmetrically distributed in the central axes of bottom surface
Two sides, the first driving wheel includes first wheel motor and the first encoder, and the second driving wheel includes the second hub motor and the
Two encoders.
As shown in Fig. 2, the first driving wheel and the second driving wheel can be symmetrically distributed in the left and right side on chassis.
As shown in Fig. 2, can be set on the bottom surface on chassis the upside that chassis is respectively symmetrically distributed in there are two driven wheel and
Downside.
As shown in figure 3, drive module includes first motor driving unit 410 in one embodiment of the utility model
With the second electric-motor drive unit 420, first motor driving unit is connect with the first driving wheel, the second electric-motor drive unit and second
Driving wheel connection.
Control processing module includes first motor control unit 310 and the second motor control unit 320, first motor control
Unit is connect with first motor driving unit, and the second motor control unit is connect with the second electric-motor drive unit.
First motor control unit for controlling the rotation of the first driving wheel by first motor driving unit, and passes through
First motor driving unit samples the rotational parameters of the first driving wheel.
Second motor control unit for controlling the rotation of the second driving wheel by the second electric-motor drive unit, and passes through
Second electric-motor drive unit samples the rotational parameters of the second driving wheel.
In one embodiment, first motor driving unit is connect with first wheel motor and the first encoder respectively, the
Two electric-motor drive units are connect with the second hub motor and second encoder respectively.
In one embodiment, first motor driving unit, for receiving the control life of first motor control unit output
Enable the rotation to drive the first driving wheel.
Second electric-motor drive unit, for receiving the control command of the second motor control unit output to drive the second active
The rotation of wheel.
In one embodiment, the model of first motor driving unit and the second electric-motor drive unit is DRV8323.
As shown in figure 3, control processing module further includes speed computing unit in one embodiment of the utility model
330, speed computing unit is connect with first motor control unit and the second motor control unit respectively.
Speed computing unit, for obtain the rotational angular velocity for the first driving wheel that first motor control unit samples with
And second rotational angular velocity of the second driving wheel that samples of motor control unit, and calculate the movement speed and angle speed on chassis
Degree.
In the present embodiment, first motor driving unit obtains the angle of rotation speed of the first wheel motor of the first encoder feedback
Degree, that is, the rotational angular velocity of the first driving wheel.First motor control unit samples rotational angular velocity, it is adjacent twice
The time interval of sampling is the sampling time.
The rotational angular velocity of second hub motor of the second electric-motor drive unit acquisition second encoder feedback, that is, the
The rotational angular velocity of two driving wheels.Second motor control unit samples rotational angular velocity, the time of adjacent double sampling
Between be divided into the sampling time.
Speed computing unit is calculated according to the rotational angular velocity of the first driving wheel and the rotational angular velocity of the second driving wheel
The movement speed and angular speed on chassis.It can be realized the moving parameter current to chassis to be detected in real time, and then realization pair
The movement routine on chassis is monitored.
In one embodiment, the moving parameter on chassis includes movement speed, angular speed, moving direction, coordinate and movement
Path etc..
In one embodiment of the utility model, speed computing unit, for calculating chassis according to following speed formula
Movement speed and angular speed:
S=2 π r*SL+2πr*SR
Wherein, S is the movement speed of chassis along the x axis, the center of the center of the first driving wheel and the second driving wheel it
Between line be Y direction, on bottom surface the direction vertical with Y direction be X-direction, r be driving wheel radius, SLIt is
The rotational angular velocity of one driving wheel, SRFor the rotational angular velocity of the second driving wheel, ω is the angular speed on chassis, and R is returning for chassis
Turn radius.
In the present embodiment, as shown in Fig. 2, the line between the center of the first driving wheel and the center of the second driving wheel is Y
Axis direction, the direction vertical with Y direction is X-direction on the bottom surface on chassis, and Y direction and X-direction constitute one
It is parallel to the plane coordinate system of bottom surface.
To obtain the angular velocity omega of chassis movement speed S along the x axis and chassis.
In one embodiment, between being to rotational angular velocity due to first motor control unit and the second motor control unit
Every sampling, the value sampled each time might have variation, therefore, SLFor the rotation of the first driving wheel sampled within a preset time
The mean value of angular speed, SRFor the mean value of the rotational angular velocity of the second driving wheel sampled within a preset time.
As shown in figure 3, control processing module further includes differential control unit in one embodiment of the utility model
340, differential control unit is connect with speed computing unit, first motor control unit and the second motor control unit respectively.
Differential control unit, the movement speed and angular speed and driving wheel on the chassis obtained for acquisition speed computing unit
Rotational angular velocity between conversion relation, and based on conversion relation obtain wheel speed control data, output wheel speed control data
To first motor control unit and the second motor control unit, with the rotational parameters difference to the first driving wheel and the second driving wheel
It is adjusted to run chassis according to default motion track.
In one embodiment, the speed formula that differential control unit 340 is used according to speed computing unit above, is based on
The target movement speed and target angular velocity on required chassis retrodict rotational angular velocity and the second master of the first required driving wheel
The rotational angular velocity of driving wheel, to obtain wheel speed control data.
First motor control unit and the second motor control unit are according to wheel speed control data to the first driving wheel and second
The rotational parameters of driving wheel are adjusted.
By taking a concrete application scene as an example, in the moving process on chassis, moving parameter can change at any time.According to default
Motion track it can be concluded that moving parameter variation ratio.For example, target movement speed is divided by current mobile when acceleration or deceleration
Speed is variation ratio.
According to the variation ratio of the movement speed on chassis, the rotational angular velocity and of the first driving wheel can be adjusted in proportion
The rotational angular velocity of two driving wheels.Such as need to make the target movement speed on chassis to be changed into the 60% of current movement speed, root
According to S=2 π r*SL+2πr*SR, it is known that, SLAnd SRIt only needs just S can be made to decay according to 60% ratio multiplied by coefficient 60% simultaneously, that
, the result retrodicted is exactly to be changed into the rotational angular velocity of the first driving wheel and the rotational angular velocity of the second driving wheel currently
The 60% of rotational angular velocity, it is 60% that wheel speed, which controls data,.Similarly, according to chassis angular speed variation ratio, Ke Yitong
Ratio adjusts the rotational angular velocity of the first driving wheel and the rotational angular velocity of the second driving wheel.
The present embodiment realizes the differential control to the first driving wheel and the second driving wheel, and controlling data by wheel speed can
To adjust rotational angular velocity in real time, to meet needs.
As shown in figure 3, control processing module further includes FOC vector controlled list in one embodiment of the utility model
350 and PID of member speed control unit 360, PID speed control unit respectively with differential control unit and FOC vector control unit
Connection, FOC vector control unit are connect with first motor control unit and the second motor control unit respectively.
PID speed control unit, for obtaining the current rotational parameters of wheel speed control data and driving wheel, and according to working as
Preceding rotational parameters carry out closed loop feedback adjusting to wheel speed control data, and the wheel speed after output is adjusted controls data.
FOC vector control unit, for obtaining the wheel speed control data after adjusting and being converted into vector, to wheel hub
Motor carries out vector controlled.
In the present embodiment, PID (ratio (proportion), integral (integral), differential (derivative)) control
It is a kind of closed-loop automatic control technology.This programme is by current rotation situation (rotational parameters) to the wheel speed for realizing rotation control
Control data are adjusted, meanwhile, after wheel speed controls data variation, rotational parameters are also to corresponding change.In this way, realizing one
The feedback regulation process of closed loop.
FOC (Field Oriented Control, Field orientable control) vector controlled be it is a kind of using vector to motor
The technology controlled.Vector includes exporting to the three-phase current and voltage to be controlled hub motor of hub motor
Vector value.The control that motor is realized by vector controlled, has the advantages that torque is steady, small to the impact of motion structure, can be with
Reduce the noise generated by mesomerism.
As shown in figure 3, control processing module further includes mileage calculation unit in one embodiment of the utility model
370, mileage calculation unit is connect with speed computing unit.
Mileage calculation unit, the rotational angular velocity of the first driving wheel for being sampled according to first motor control unit with
And second rotational angular velocity of the second driving wheel that samples of motor control unit, calculate the movement routine on chassis.
In the present embodiment, mileage calculation unit is according to the rotation of the rotational angular velocity and the second driving wheel of the first driving wheel
Angular speed positions the shift position on chassis, to obtain the movement routine on chassis.
In one embodiment of the utility model, mileage calculation unit, for calculating the shifting on chassis according to following formula
Dynamic path:
ΔULi=Δ t*SLi
Wherein, i is the sampling number of first motor control unit or the second motor control unit.
ΔULiFor rotation distance of first driving wheel within the i-th sampling time, Δ t is the sampling time of i-th, SLi
The rotational angular velocity sampled for the first driving wheel in i-th.
ΔURi=Δ t*SRi
Wherein, Δ URiFor rotation distance of second driving wheel within the i-th sampling time, SRiIt is the second driving wheel i-th
The rotational angular velocity of secondary sampling.
It enables:
Wherein, Δ UiFor moving distance of the chassis within the i-th sampling time, Δ θiIt is chassis within the i-th sampling time
Move angle.
It obtains:
Wherein, θiThe moving direction of movement, X are fastened in plane coordinates for chassisiMovement is fastened in plane coordinates for chassis
X axis coordinate, YiThe Y axis coordinate of movement is fastened in plane coordinates for chassis.
In one embodiment, the line between the center of the first driving wheel and the center of the second driving wheel is Y direction,
The direction vertical with Y direction is X-direction on bottom surface, and the rectangular coordinate system that Y direction and X-direction form is described flat
Areal coordinate system.
As shown in figure 3, being additionally provided with gyro sensor 500, gyro in one embodiment of the utility model, on chassis
Instrument sensor is connect with control processing module by communication interface.
Gyro sensor, for the angular speed on the chassis measured to be sent to control processing module, so that control is handled
Module corrects the movement routine on the chassis of calculating.
In one embodiment, gyro sensor is connect by I2C interface with control processing module.
In the present embodiment, gyro sensor can measure angular speed of the chassis in deflection, inclination.
Control processing module can use the angular speed on the chassis that gyro sensor measures and be calculated to above-mentioned
Movement routine is corrected.
In one embodiment, the chassis structure of the mute machine further includes power module, power module respectively with master
Driving wheel, control processing module connect with drive module, and respectively provide the supply voltage of work for it.
Power module includes sequentially connected battery unit, DC voltage converting unit and linear voltage stabilization unit.
In one embodiment, battery unit exports the first direct current of 24V.DC voltage converting unit is straight by 24V first
Galvanic electricity is converted to the second direct current of 5V, and the second direct current of 5V is converted to 3.3V third direct current by linear voltage stabilization unit.
In one embodiment, linear voltage stabilization unit includes that (low dropout regulator, low pressure difference linearity are steady by LDO
Depressor) voltage-stablizer.
In one embodiment, the chassis structure of the mute machine further includes communication interface modules, communication interface modules
It is connect respectively with control processing module and gyro sensor.
Communication interface modules includes CAN interface unit, UART interface unit, I2C interface unit, Network Interface Unit and string
Line interface unit.
Above example implements a kind of chassis structures of mute machine, with structure is simple, at low cost, the service life is long, just
In the low advantage of production maintenance, noise, the scope of application of machine is expanded, and technology maturation, risk are low, high reliablity, effect
Rate is high, energy-efficient.
It should be noted that the identical port of label or pin are to be connected in the utility model the description and the appended drawings.
The above, above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations；Although ginseng
The utility model is described in detail according to previous embodiment, those skilled in the art should understand that: it is still
It is possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is equally replaced
It changes；And these are modified or replaceed, various embodiments of the utility model technical solution that it does not separate the essence of the corresponding technical solution
Spirit and scope.
Claims (10)
1. a kind of chassis structure of mute machine, which is characterized in that including chassis, driving wheel, driven is provided on the chassis
Wheel, control processing module and drive module, the driving wheel include hub motor and encoder；
The control processing module is connect with the drive module, the drive module respectively with the hub motor and the volume
Code device connection, the hub motor are connected with the encoder；
The driving wheel drives the driven wheel and the chassis mobile；
The drive module, by driving wheel described in the In-wheel motor driving under the control of the control processing module, and
The rotational parameters of the hub motor are obtained by the encoder to export to the control processing module；
The control processing module, controls the rotation of the driving wheel by the drive module to drive the chassis mobile,
And the movement routine on the chassis is adjusted and is controlled.
2. a kind of chassis structure of mute machine as described in claim 1, which is characterized in that be arranged on the bottom surface on the chassis
There are two the driving wheel, respectively the first driving wheel and the second driving wheel, first driving wheel and second driving wheel
It is symmetrically distributed in the two sides of the central axes of the bottom surface, first driving wheel includes first wheel motor and the first encoder,
Second driving wheel includes the second hub motor and second encoder.
3. a kind of chassis structure of mute machine as claimed in claim 2, which is characterized in that the drive module includes first
Electric-motor drive unit and the second electric-motor drive unit, the first motor driving unit is connect with first driving wheel, described
Second electric-motor drive unit is connect with second driving wheel；
The control processing module includes first motor control unit and the second motor control unit, and the first motor control is single
First to connect with the first motor driving unit, second motor control unit is connect with second electric-motor drive unit；
The first motor control unit controls the rotation of first driving wheel by the first motor driving unit, and
The rotational parameters of first driving wheel are sampled by the first motor driving unit；
Second motor control unit controls the rotation of second driving wheel by second electric-motor drive unit, and
The rotational parameters of second driving wheel are sampled by second electric-motor drive unit.
4. a kind of chassis structure of mute machine as claimed in claim 3, which is characterized in that the control processing module is also wrapped
Include speed computing unit, the speed computing unit respectively with the first motor control unit and the second motor control list
Member connection；
The speed computing unit obtains the angle of rotation speed for first driving wheel that the first motor control unit samples
The rotational angular velocity for second driving wheel that degree and second motor control unit sample, and calculate the chassis
Movement speed and angular speed.
5. a kind of chassis structure of mute machine as claimed in claim 4, which is characterized in that the control processing module is also wrapped
Include differential control unit, the differential control unit respectively with the speed computing unit, the first motor control unit and
The second motor control unit connection；
The differential control unit obtains the movement speed and angular speed on the chassis that the speed computing unit obtains, and
It exports wheel speed and controls data to the first motor control unit and second motor control unit, to first active
The rotational parameters of wheel and second driving wheel are adjusted separately to run the chassis according to default motion track.
6. a kind of chassis structure of mute machine as claimed in claim 5, which is characterized in that the control processing module is also wrapped
Include FOC vector control unit and PID speed control unit, the PID speed control unit respectively with the differential control unit
Connected with the FOC vector control unit, the FOC vector control unit respectively with the first motor control unit and described
The connection of second motor control unit；
The PID speed control unit obtains the current rotational parameters of wheel speed the control data and the driving wheel, and root
Closed loop feedback adjusting is carried out to wheel speed control data according to the current rotational parameters, the wheel speed after output is adjusted controls number
According to；
The FOC vector control unit, the wheel speed after obtaining the adjusting controls data and is converted into vector, to described
Hub motor carries out vector controlled.
7. such as a kind of chassis structure of mute machine as claimed in any one of claims 1 to 6, which is characterized in that on the chassis
It is additionally provided with gyro sensor, the gyro sensor is connect with the control processing module by communication interface；
The angular speed on the chassis measured is sent to the control processing module, so that described by the gyro sensor
Control processing module corrects the movement routine on the chassis of calculating.
8. a kind of chassis structure of mute machine as claimed in claim 7, which is characterized in that it further include communication interface modules,
Communication interface modules is connect with control processing module and gyro sensor respectively.
9. a kind of chassis structure of mute machine as described in claim 1, which is characterized in that further include power module, power supply
Module is connect with driving wheel, control processing module and drive module respectively, and respectively provides the supply voltage of work for it.
10. a kind of chassis structure of mute machine as claimed in claim 9, which is characterized in that power module includes successively connecting
Battery unit, DC voltage converting unit and the linear voltage stabilization unit connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821785654.XU CN209257868U (en) | 2018-10-31 | 2018-10-31 | A kind of chassis structure of mute machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821785654.XU CN209257868U (en) | 2018-10-31 | 2018-10-31 | A kind of chassis structure of mute machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209257868U true CN209257868U (en) | 2019-08-16 |
Family
ID=67559431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821785654.XU Active CN209257868U (en) | 2018-10-31 | 2018-10-31 | A kind of chassis structure of mute machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209257868U (en) |
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2018
- 2018-10-31 CN CN201821785654.XU patent/CN209257868U/en active Active
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