CN210191583U

CN210191583U - Steering wheel steering engine and driving system and automatic driving system applying steering engine

Info

Publication number: CN210191583U
Application number: CN201920985003.3U
Authority: CN
Inventors: Xiaowei Pan; 潘孝威; Hengshuai Zhang; 张恒帅; Ruihao Wang; 王瑞豪
Original assignee: Subelectron Science And Technology Ltd Of Jinan Section
Current assignee: Subelectron Science And Technology Ltd Of Jinan Section
Priority date: 2019-06-27
Filing date: 2019-06-27
Publication date: 2020-03-27
Anticipated expiration: 2029-06-27

Abstract

The utility model discloses a steering wheel and actuating system, use the autopilot system of steering wheel, the inside fixed mounting of shell has the stator, the rotor is installed at the center of location, the one end of shell is sealed up and only is equipped with circular mounting hole at the center, the other end of shell is fixed with the end cover, the center of shell also is equipped with circular mounting hole, the stator is including installation cover and stator winding, be equipped with stator winding on the outer circumference of installation cover, the stator passes through the installation cover and installs in the shell, the rotor includes the body, the one end of body is fixed with first adapter sleeve, the other end of body is fixed with the second adapter sleeve, a body, the center of first adapter sleeve and second adapter sleeve is equipped with the pivot mounting hole, be equipped with rotor winding on the outer. The utility model discloses mainly to the accurate agricultural machine of mark, unmanned steering wheel drive. The steering wheel steering engine can accurately position the agricultural machinery, improve the agricultural productivity and realize quick, efficient, high-precision and automatic operation on large-area cultivated land.

Description

Steering wheel steering engine and driving system and automatic driving system applying steering engine

Technical Field

The utility model relates to an autopilot technical field specifically is an autopilot system of steering wheel and actuating system, applied steering wheel.

Background

Along with the continuous development of agricultural technology, in order to save labor force, improve the land utilization rate and the labor efficiency, the requirement of agricultural automation is more and more urgent, the agricultural automation operation is mainly realized by the automatic driving of agricultural machinery, in the automatic driving process, an agricultural machine driver needs to follow the whole course, still needs to drive manually when arriving at the ground and encountering obstacles, unmanned driving can not be realized, and more labor force is still needed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an autopilot system of steering wheel and actuating system, applied steering wheel to solve the agricultural machinery driver who provides in the above-mentioned background art and need whole following, still need manual drive when arriving the head of a field and meetting the barrier, can't realize unmanned driving, still need more labour's problem.

In order to achieve the above object, the utility model provides a following technical scheme:

a steering wheel steering engine comprises a shell, an end cover, a rotor and a stator, wherein the stator is fixedly arranged in the shell, the positioning center is provided with a rotor, one end of the shell is sealed and only the center is provided with a circular mounting hole, the other end of the shell is fixed with an end cover, the center of the shell is also provided with a circular mounting hole, the stator comprises a mounting sleeve and a stator winding, the outer circumference of the mounting sleeve is provided with a stator winding, the stator is mounted in the shell through the mounting sleeve, the rotor comprises a body, one end of the body is fixed with a first connecting sleeve, the other end of the body is fixed with a second connecting sleeve, the centers of the body, the first connecting sleeve and the second connecting sleeve are provided with a rotating shaft mounting hole, the outer circumference of the body is provided with a rotor winding, and the rotor is arranged in the shell through a first connecting sleeve and a second connecting sleeve.

Furthermore, a first bearing is installed on the first connecting sleeve, a second bearing is installed on the second connecting sleeve, and the outer rings of the first bearing and the second bearing are installed in the shell.

Furthermore, the rotating shaft mounting hole is a cylindrical hole.

Furthermore, the second connecting sleeve extends out of the round mounting hole at one end of the shell in a sealing mode.

Further, the first connecting sleeve is arranged in the end cover.

The utility model provides a drive system of steering wheel, steering wheel is from taking drive system, drive system control power and drive power supply, control power gives CPU, PWM, protection circuit, modulate circuit, many rings of absolute value decoding circuit and DA output power supply respectively, CPU control PWM, CPU still is connected with protection circuit and DA output, drive power supplies power for drive circuit and current sensor respectively, drive circuit is connected with the dc-to-ac converter electricity, dc-to-ac converter and PMSM electric connection, be provided with current sensor between dc-to-ac converter and the PMSM, PMSM is connected with many rings of absolute value encoder electricity, many rings of absolute value encoder and many rings of absolute value decoding circuit electric connection, current sensor and modulate circuit electric connection

An automatic driving system applying a steering engine comprises a Beidou satellite reference station receiver connected with a Beidou satellite and a master controller installed on a vehicle, wherein the Beidou satellite reference station receiver is wirelessly connected with the master controller, the master controller comprises a steering controller, a brake controller, an accelerator controller, a path comparison module and an obstacle detection controller, the steering controller is electrically connected with a steering wheel steering engine, the steering wheel steering engine is installed on a rotating shaft of a steering wheel of the vehicle, an encoder is also installed on the rotating shaft, the accelerator controller is electrically connected with an electronic accelerator of the vehicle, the brake controller is electrically connected with an electronic brake of the vehicle, the electronic accelerator and the electronic brake are both electrically connected with a speed sensor, the path comparison module is electrically connected with an angle calculation unit, and the angle calculation unit is also electrically connected with the encoder, the encoder is electrically connected with the steering controller, and the obstacle detection controller comprises a first radar and a second radar.

Furthermore, a fixed signal transmitter is arranged in the Beidou satellite reference station receiver, a mobile signal receiver is arranged in the master controller, and the Beidou satellite reference station receiver performs data transmission with the mobile signal receiver in the master controller through the fixed signal transmitter.

Furthermore, the encoder is electrically connected with the mobile signal transmitter, and the mobile signal transmitter is electrically connected with the master controller and the angle calculation unit.

Furthermore, the speed sensor is electrically connected with the master controller.

Further, the angle calculation unit is electrically connected with the steering controller.

Further, the first radar is installed at the front end of a wheel of the vehicle, and the second radar is installed at the front end of a head of the vehicle.

An automatic driving method using a steering engine,

step 1: the method comprises the steps that a Beidou satellite mobile station receiver is used for capturing, tracking, positioning and resolving received Beidou navigation signals, an appointed route of vehicle movement is obtained, and then difference resolving is carried out on the acquired Beidou navigation signals and data transmitted from a Beidou satellite reference station receiver in a wireless mode, so that accurate position and attitude information of a vehicle is obtained;

step 2: the designated route to be traveled by the vehicle is input into the overall controller. The master controller acquires the position, speed, attitude information and actual line of the vehicle obtained by the mobile signal transmitter, calculates the real-time position of the vehicle according to the information, and compares the position with the specified line through a path comparison module in the master controller;

step 3, the path comparison module compares the angle α between the actual line and the specified line, wherein the angle is the optimal angle for a steering wheel steering engine to control the steering of the vehicle when the vehicle approaches the specified line;

step 4, the steering controller can obtain an angle value theta of a rotating shaft in the steering wheel in real time by reading data of the encoder, and if an angle α between an actual line and a specified line is known, the rotating shaft in the steering wheel needs to rotate by an angle α -theta which is recorded as delta theta;

and 5: the steering controller transmits the angle delta theta of the guide wheel which needs to rotate to a steering wheel steering engine, and the steering wheel steering engine drives the rotating shaft to rotate delta theta so as to enable the agricultural machinery to move towards the specified direction;

and (5) repeating the steps 3-5, gradually approaching the vehicle to the ideal path, and then driving according to the planned ideal path, thereby realizing the automatic driving control of the vehicle.

Further, when the vehicle normally works, namely the vehicle keeps running straight, the vehicle speed controller in the main controller controls the vehicle speed to be less than 30km/h through controlling the electronic accelerator, and the main controller monitors the speed through the speed sensor.

Further, when the master controller detects that the vehicle needs to turn or turn around in the designated route, the vehicle speed controller in the master controller controls the electronic throttle to enable the vehicle speed to be less than 10km/h, and the master controller monitors the speed through the speed sensor.

Further, when the first radar on the vehicle detects an obstacle signal and the second radar does not detect the obstacle signal, the vehicle normally runs; when the first radar and the second radar can not detect the obstacle signal, the vehicle normally runs; when the first radar and the second radar detect the obstacle signals, the obstacle detection controller feeds the signals back to the master controller, the brake controller in the master controller controls the electronic brake to brake the vehicle, and the master controller monitors the speed through the speed sensor.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses mainly to the accurate agricultural machine of mark, unmanned steering wheel drive. The steering wheel steering engine enables agricultural machinery to operate and implement accurate positioning, can improve agricultural productivity, efficiently utilizes agricultural resources, protects ecological environment, is an effective way for realizing sustainable development agriculture with high quality, high yield, low consumption and environmental protection, can realize rapid, efficient, high-precision and automatic operation on large-area cultivated land, can be used for multiple production links such as flat soil preparation, seeding, harvesting and pesticide spraying, and greatly improves production efficiency and land utilization rate.

Drawings

Fig. 1 is a schematic view of a three-dimensional structure of a steering engine in the present invention;

FIG. 2 is a schematic front view of the structure of FIG. 1 according to the present invention;

FIG. 3 is a schematic view of the cross-sectional internal structure of FIG. 1 according to the present invention;

fig. 4 is a schematic perspective view of the rotor shown in fig. 3 according to the present invention;

FIG. 5 is a schematic front view of the structure of FIG. 4 according to the present invention;

fig. 6 is a schematic cross-sectional view of the right side view of fig. 5 in accordance with the present invention;

fig. 7 is a schematic structural view of the stator of fig. 3 according to the present invention;

fig. 8 is a schematic view of an autopilot system according to the present invention;

fig. 9 is a schematic view of angle α according to the present invention;

fig. 10 is a schematic view illustrating the installation of the obstacle detection controller in the automatic control system according to the present invention;

FIG. 11 is a frame diagram of a driving system of a steering wheel steering engine of the present invention;

fig. 12 is a schematic diagram of a multi-turn absolute value decoding circuit in the middle driving system according to the present invention;

fig. 13 is a schematic diagram of a conditioning circuit in the drive system of the present invention;

FIG. 14 is a schematic diagram of a protection circuit in the middle driving system of the present invention

Fig. 15 is a schematic diagram of a DA conversion circuit in the driving system of the present invention;

fig. 16 is a schematic diagram of a main power circuit in the driving system of the present invention.

In the figure: 1 shell, 2 end covers, 3 rotors, 301 body, 302 first adapter sleeve, 303 second adapter sleeve, 304 first bearing, 305 second bearing, 306 rotor winding, 307 pivot mounting hole, 4 stators, 401 installation cover, 402 stator winding, 403 power line, 5 big dipper satellite reference station receivers, 5 total controller, 7 steering controller, 8 brake controller, 9 throttle controller, 10 route contrast module, 11 obstacle detection controller, 12 steering wheel, 13 encoders, 14 mobile signal transmitter, 15 fixed signal transmitter, 16 mobile signal receiver, 17 electronic throttle, 18 electronic brake, 19 speed sensor, 20 angle calculating unit, 21 first radar, 22 second radar.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1:

referring to fig. 1-7, a steering wheel steering engine 12 includes a housing 1, an end cover 2, a rotor 3 and a stator 4, the stator 4 is fixedly installed inside the housing 1, the rotor 3 is installed at a positioning center, one end of the housing 1 is sealed and only a circular installation hole is formed at the center, the end cover 2 is fixed at the other end of the housing 1, the circular installation hole is also formed at the center of the housing 1, the stator 4 includes an installation sleeve 401 and a stator winding 402, the stator winding 402 is arranged on the outer circumference of the installation sleeve 401, the stator 4 is installed in the housing 1 through the installation sleeve 401, the rotor 3 includes a body 301, a first connection sleeve 302 is fixed at one end of the body 301, a second connection sleeve 303 is fixed at the other end of the body 301, a rotation shaft installation hole 307 is formed at the centers of the body 301, the first connection sleeve 302 and the second connection sleeve 303, a rotor winding 306 is arranged on the outer circumference of the body 301, and the rotor 3 is installed in the housing 1 through a first connecting sleeve 302 and a second connecting sleeve 303.

Example 2:

The first connecting sleeve 302 is provided with a first bearing 304, the second connecting sleeve 303 is provided with a second bearing 305, and the outer rings of the first bearing 304 and the second bearing 305 are both arranged in the housing 1. The rotating shaft mounting hole 307 is a cylindrical hole. The second connecting sleeve 303 extends out of a round mounting hole at one sealed end of the housing 1. The first coupling sleeve 302 is arranged in the end cap 2. And a power line 403 is arranged on the stator 4, and the stator 4 is electrically connected with the master controller through the power line 403. The steering wheel steering engine is characterized in that the control port of the steering wheel steering engine is provided with three types of RS232, CAN and analog voltage of 0-5V, and an external start-stop control button is arranged on the shell of the steering wheel steering engine.

Example 3:

on the basis of embodiment 2, referring to fig. 8, an automatic driving system using a steering engine comprises a beidou satellite reference station receiver 5 connected with a beidou satellite and a master controller 6 installed on a vehicle, wherein the beidou satellite reference station receiver 5 is wirelessly connected with the master controller 6, the master controller 6 comprises a steering controller 7, a brake controller 8, an accelerator controller 9, a path comparison module 10 and an obstacle detection controller 11, the steering controller 7 is electrically connected with a steering wheel steering engine 12, the steering wheel steering engine 12 is installed on a rotating shaft of a steering wheel of the vehicle, an encoder 13 is further installed on the rotating shaft, the accelerator controller 9 is electrically connected with an electronic accelerator 17 of the vehicle, the brake controller 8 is electrically connected with an electronic brake 18 of the vehicle, and both the electronic accelerator 17 and the electronic brake 18 are electrically connected with a speed sensor 19, the path comparison module 10 is electrically connected to the angle calculation unit 20, the angle calculation unit 20 is further electrically connected to the encoder 13, the encoder 13 is electrically connected to the steering controller 7, and the obstacle detection controller 11 includes a first radar 21 and a second radar 22.

Example 4:

The big dipper satellite reference station receiver 5 is internally provided with a fixed signal transmitter 15, the master controller 6 is internally provided with a mobile signal receiver 16, and the big dipper satellite reference station receiver 5 performs data transmission with the mobile signal receiver 16 in the master controller 6 through the fixed signal transmitter 15. The encoder 13 is electrically connected with a mobile signal transmitter 14, and the mobile signal transmitter 14 is electrically connected with the general controller 6 and the angle calculating unit 20. The speed sensor 19 is electrically connected with the master controller 6. The angle calculation unit 20 is electrically connected to the steering controller 7. The first radar 21 is installed at the front end of a wheel of the vehicle, and the second radar 22 is installed at the front end of a head of the vehicle. The encoder comprises an incremental encoder and an absolute value sensor, the steering controller controls the steering wheel steering engine to work in a speed mode and a position mode, and meanwhile, the steering controller is controlled through can bus networking and realizes steering wheel steering engine rotating speed control and data reading through RS 232.

Working mode configuration table:

example 5:

on the basis of the embodiment 4, referring to fig. 8-10, an automatic driving method applying a steering engine,

step 1: the Beidou satellite mobile station receiver is used for capturing, tracking, positioning and resolving the received Beidou navigation signal, obtaining an appointed route of vehicle movement, and then carrying out differential resolution on the appointed route and data transmitted from the Beidou satellite reference station receiver 5 in a wireless mode to obtain the accurate position and attitude information of the vehicle;

step 2: the specified route to be traveled by the vehicle is input into the overall controller 6. The master controller 6 acquires the position, speed, attitude information and actual line of the vehicle obtained by the mobile signal transmitter 14, calculates the real-time position of the vehicle through the information, and compares the position with the specified line through the path comparison module 10 in the master controller 6;

step 3, the path comparison module 10 compares the angle α between the actual line and the specified line, wherein the angle is the optimal angle for the steering wheel steering engine 12 to control the steering of the vehicle when the vehicle approaches the specified line;

step 4, the steering controller 7 can obtain the angle value theta of the rotating shaft in the steering wheel steering engine 12 at present in real time by reading the data of the encoder 13, and if the angle between the actual line and the specified line is known as α, the angle of the rotating shaft in the steering wheel steering engine 12 which needs to be rotated is α -theta and is recorded as delta theta;

and 5: the steering controller 7 transmits the angle delta theta of the guide wheel which needs to rotate to the steering wheel steering engine 12, and the steering wheel steering engine 12 drives the rotating shaft to rotate delta theta so as to enable the agricultural machine to move towards the specified direction;

Example 6:

When the vehicle normally works, namely the vehicle keeps running straight, the vehicle speed controller in the main controller 6 controls the vehicle speed to be less than 30km/h by controlling the electronic throttle 17, and the main controller 6 monitors the speed through the speed sensor 19.

When the master controller 6 detects that the vehicle needs to turn or turn around in the designated route, the vehicle speed controller in the master controller 6 controls the electronic throttle 17 to enable the vehicle speed to be less than 10km/h, and the master controller 6 monitors the speed through the speed sensor 19.

When the first radar 21 on the vehicle detects an obstacle signal and the second radar 22 does not detect the obstacle signal, the vehicle normally runs; when the first radar 21 and the second radar 22 do not detect the obstacle signal, the vehicle normally runs; when the first radar 21 and the second radar 22 both detect the obstacle signal, the obstacle detection controller 11 feeds back the signal to the general controller 6, the brake controller 8 in the general controller 6 brakes the vehicle by controlling the electronic brake 18, and the general controller 6 monitors the speed by the speed sensor 19.

The steering wheel steering engine is provided with a driving system, the driving system controls a power supply and a driving power supply, the control power supply respectively supplies power to a CPU, a PWM, a protection circuit, a conditioning circuit, a multi-turn absolute value decoding circuit and a DA output, the CPU controls the PWM, the CPU is also connected with the protection circuit and the DA output, the driving power supply respectively supplies power to the driving circuit and a current sensor, the driving circuit is electrically connected with an inverter, the inverter is electrically connected with a PMSM, a current sensor is arranged between the inverter and the PMSM, the PMSM is electrically connected with the multi-turn absolute value encoder, the multi-turn absolute value encoder is electrically connected with the multi-turn absolute value decoding circuit, the current sensor is electrically connected with the conditioning circuit, the CPU is digitally controlled, the operation core is DSPTMS320F28335, and is designed with the multi-turn absolute value decoding circuit, the sampling circuit and the protection circuit, A DA output display circuit and the like; the main power circuit uses MOSFETs as switching devices for the inverter.

As shown in fig. 12, in the multi-turn absolute value decoding circuit, an angular displacement sensor of a steering wheel steering engine uses a multi-turn absolute value encoder. Compared with a photoelectric encoder, the multi-turn absolute value encoder is more suitable for the environment with larger vibration and has advantages in direct drive systems of machine tools and other special occasions. The maximum error of angle measurement of the multi-turn absolute value encoder is 10 +/-and a sine wave differential signal with the frequency of 10kHz is used as excitation input, the amplitude of an output waveform changes along with the change of an angle, and digital decoding needs to be carried out on digital quantity reading of mechanical angle and angular speed signals by means of a multi-turn absolute value decoding chip.

The multi-turn absolute value decoding chip uses a II-type closed loop system, has the highest angle decoding precision of 16 bits and the decoding precision of the 15-bit rotating speed with symbols, and adopts the chip to design a multi-turn absolute value decoding circuit. The circuit mainly comprises a clock circuit, an excitation signal conditioning circuit, a sine and cosine signal filtering circuit and the like. The system adopts a passive crystal oscillator of 8.192MHz as a clock signal, and the excitation signal conditioning circuit is designed according to the voltage range of sending and receiving of the decoding chip. An excitation signal of 3.6Vp-p 10% + -may be transmitted and a swirl feedback signal of 3.15Vp-p 20% + -may be received. The level of RES0 and RES1 pins determines the decoding resolution of the chip, and the higher the decoding resolution is, the lower the range of angular velocity can be resolved. The system adopts the highest 16-bit resolution, so pins RES0 and RES1 are connected with high level, the highest traceable 7500r/min of a decoding chip under the resolution is realized, the default excitation frequency of the chip which is higher than the maximum rotating speed of an experimental motor is 10kHz, and the excitation frequency requirement of the chip is the same as that of a multi-turn absolute value encoder. A rail-to-rail operational amplifier TS922A is adopted to construct an excitation signal conditioning circuit to adjust the amplitude and carry out filtering processing, so that the driving capability of the excitation signal is enhanced, and the noise of the excitation signal is reduced.

The chip supports two data communication modes of serial and parallel ports, the SOE pin is determined as a serial port communication enabling pin, the low level is effective, and if the parallel mode is selected to transmit data, the SOE pin needs to be connected into the high level. The level of the A0 and A1 pins determines the operation mode of the chip, and when A0 and A1 are both low level, the decoded angle digital signal is output; when a0 is low and a1 is high, the angular velocity digital signal is output. The system adopts a serial transmission mode, and controls the level change of the pin A1 through the GPIO port of the DSP to switch the output modes of the angle of the decoding chip and the angular speed signal.

When designing a conditioning circuit of a multi-turn absolute value decoding chip, attention needs to be paid to a sine and cosine phase locking range, namely the phase difference between the EXC output and the sine and cosine input cannot exceed +/-44 degrees. Because the EXC output of the chip and the SIN and COS input pins are subjected to filtering processing, the phase offset under 10kHz needs to be taken into account when a filtering circuit is designed, so that the phase offset of a conditioning circuit of the whole multi-turn absolute value decoding chip is ensured to be within +/-44 degrees.

TMS320F28335 provides a double 8-way AD conversion channel with 12-bit resolution, and the input voltage range is required to be between 0 and 3V. The conditioning circuit is used for adjusting the amplitude and filtering the output signals of the sensors such as current and voltage to meet the input level requirement of an AD conversion channel of the DSP. The utility model discloses use A phase current conditioning circuit to explain the design idea of this system conditioning circuit as the example. Fig. 13 is a circuit for conditioning a-phase current, which is formed by cascading two operational amplifier circuits. The pre-stage operational amplifier A is used for adjusting the bias and amplitude of an output signal XI a of the current sensor, so that the output level is between 0 and 3V; the rear-stage operational amplifier B constructs an active second-order filter circuit, so that the influence of sampling noise is reduced, and the reliability of current sampling is improved. The current sensor used by the system outputs a bipolar current signal XI a, which is converted into a bipolar voltage signal through a grounding resistor, wherein the voltage range is-3V- + 3V. Therefore, it is also necessary to process the bipolar voltage signal to reduce the level variation range to be within 0-3V. The circuit adjusts the bias and the amplitude of a bipolar voltage signal by adding a reference voltage, and the adjustment formula is as follows:

wherein Xi_aIs the output signal of the current sensor;

V_reffor voltage stabilization chipA 3V bias voltage built by TL 431; xi_a' is the output of the operational amplifier A. Regulated voltage signal Xi_aThe level range of the' is 0V-3V, which just meets the input voltage requirement of an AD conversion channel.

As shown in fig. 14, the protection circuit includes functions of bus overcurrent protection, bus overvoltage protection, multi-turn absolute value decoding fault protection, software error protection, etc., and when the protection circuit receives any one of the protection signals, the system immediately blocks the output of the driving signal.

The Err0 signal of protection circuit is the dc bus overcurrent protection signal, the utility model discloses only use overcurrent protection as the example to explain protection circuit's working process. XI DC is the voltage amount corresponding to the regulated direct current bus current, and the negative input end of the voltage comparator LM393 is a set bus overcurrent voltage threshold value. If XI DC exceeds the voltage threshold, the overcurrent protection signal lamp is turned on, the Err0 level is changed from high to low, the D trigger CD4013B is triggered by the rising edge, the level of the output pin is turned over, the system error-reporting signal lamp is turned on, and meanwhile, the FAULT signal is changed into high level, so that the CPLD blocking driving output signal is triggered, because the trigger source signals of the protection circuit are all analog signals, and the NAND gate and the D trigger used in the logic circuit are both digital chips, the trigger source signals and the logic level need to be isolated by using the optocoupler, and the optocoupler also realizes the level conversion effect.

As shown in fig. 15, the DA conversion circuit is used to output variables in the digital control system as analog voltage quantities for display and analysis of the oscilloscope. The specific process is as follows: firstly, the digital variable in the program is sent to a DA conversion circuit in a parallel or serial mode, then the DA conversion circuit converts the digital variable into an analog voltage signal, and then the analog voltage waveform is checked through an oscilloscope. The system adopts an 8-channel 13-bit parallel DA chip MAX547 of Mei Xin company to build a digital-to-analog conversion circuit. The DA chip supplies power for double power sources, and a-5V voltage stabilizing source is constructed by means of TL431 and serves as a negative voltage source of MAX 547; the reference voltage of the DA chip is provided by ADR4525, and MAX494 is used for forming a following circuit to improve the driving capability of the reference voltage chip; the A0-A2 pins are connected with the DSP address pins XA0-XA2 to select the channel of data output.

The main power circuit adopts a three-phase bridge structure to design a voltage source type inverter, and six power field effect transistors with the models of IXFH52N300 are selected as switching devices. The MOSFET has the advantages of small on-resistance, small driving current, high on-speed and the like, and can reduce the heat energy loss of the power amplifier circuit in the occasions with higher switching frequency. The main power circuit schematic is shown in fig. 16.

The driving signal of the MOSFET is generated by an IR2110 chip, and three signals output by the power tube are respectively connected to U, V, W three-phase winding wiring terminals of the permanent magnet synchronous motor. Because the internal output impedance of the IR2110 chip is low, the direct use of the chip to drive a power device can cause voltage oscillation between drain and source of a MOSFET, and therefore the IR2110 output end is connected with a resistor in series to improve the driving stability; meanwhile, a diode is connected in anti-parallel with the series resistor to accelerate the turn-off speed.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A steering wheel steering engine which characterized in that: including shell, end cover, rotor and stator, the inside fixed mounting of shell has the stator, and the rotor is installed at positioning center, the one end of shell is sealed up and only is equipped with circular mounting hole at the center, the other end of shell is fixed with the end cover, the center of shell also is equipped with circular mounting hole, the stator is including installation cover and stator winding, be equipped with stator winding on the outer circumference of installation cover, the stator passes through the installation cover and installs in the shell, the rotor includes the body, the one end of body is fixed with first adapter sleeve, the other end of body is fixed with the second adapter sleeve, the body first adapter sleeve with the center of second adapter sleeve is equipped with the pivot mounting hole, be equipped with rotor winding on the outer circumference of body, the rotor is installed in the shell through first adapter sleeve and second adapter sleeve.

2. The steering wheel steering engine of claim 1, wherein: the first bearing is installed on the first connecting sleeve, the second bearing is installed on the second connecting sleeve, and the outer rings of the first bearing and the second bearing are installed in the shell.

3. A drive system for a steering wheel actuator as claimed in any one of claims 1 to 2, wherein: the steering wheel steering engine is provided with a driving system, the driving system controls a power supply and a driving power supply, the control power supply respectively supplies power to a CPU, a PWM, a protection circuit, a conditioning circuit, a multi-turn absolute value decoding circuit and a DA output, the CPU controls the PWM, the CPU is further connected with the protection circuit and the DA output, the driving power supply respectively supplies power to the driving circuit and a current sensor, the driving circuit is electrically connected with an inverter, the inverter is electrically connected with a PMSM, a current sensor is arranged between the inverter and the PMSM, the PMSM is electrically connected with the multi-turn absolute value encoder, the multi-turn absolute value encoder is electrically connected with the multi-turn absolute value decoding circuit, and the current sensor is electrically connected with the conditioning circuit.

4. An autopilot system using a steering wheel actuator as claimed in any one of claims 1 to 2, characterized in that: the device comprises a Beidou satellite reference station receiver connected with a Beidou satellite and a master controller installed on a vehicle, wherein the Beidou satellite reference station receiver is wirelessly connected with the master controller, the master controller comprises a steering controller, a brake controller, an accelerator controller, a path comparison module and an obstacle detection controller, the steering controller is electrically connected with a steering wheel steering engine, the steering wheel steering engine is installed on a rotating shaft of a steering wheel of the vehicle, an encoder is also installed on the rotating shaft, the accelerator controller is electrically connected with an electronic accelerator of the vehicle, the brake controller is electrically connected with an electronic brake of the vehicle, the electronic accelerator and the electronic brake are both electrically connected with a speed sensor, the path comparison module is electrically connected with an angle calculation unit, the angle calculation unit is also electrically connected with the encoder, and the encoder is electrically connected with the steering controller, the obstacle detection controller includes a first radar and a second radar.

5. The autopilot system of claim 4 wherein: the big dipper satellite reference station receiver is internally provided with a fixed signal transmitter, the master controller is internally provided with a mobile signal receiver, and the big dipper satellite reference station receiver performs data transmission with the mobile signal receiver in the master controller through the fixed signal transmitter.

6. The autopilot system of claim 4 wherein: the encoder is electrically connected with the mobile signal transmitter, and the mobile signal transmitter is electrically connected with the master controller and the angle calculation unit.

7. The autopilot system of claim 4 wherein: and the speed sensor is electrically connected with the master controller.

8. The autopilot system of claim 4 wherein: the angle calculation unit is electrically connected with the steering controller.

9. The autopilot system of claim 4 wherein: the first radar is installed at the front end of a wheel of the vehicle, and the second radar is installed at the front end of a head of the vehicle.