KR20170080949A - Easy estimation system and method of wheel lift and suspension force for a vehicle and mobile robot - Google Patents

Easy estimation system and method of wheel lift and suspension force for a vehicle and mobile robot Download PDF

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Publication number
KR20170080949A
KR20170080949A KR1020150190991A KR20150190991A KR20170080949A KR 20170080949 A KR20170080949 A KR 20170080949A KR 1020150190991 A KR1020150190991 A KR 1020150190991A KR 20150190991 A KR20150190991 A KR 20150190991A KR 20170080949 A KR20170080949 A KR 20170080949A
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South Korea
Prior art keywords
suspension
link
unit
angle
bar
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KR1020150190991A
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Korean (ko)
Inventor
김자영
이지홍
전봉수
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충남대학교산학협력단
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Priority to KR1020150190991A priority Critical patent/KR20170080949A/en
Publication of KR20170080949A publication Critical patent/KR20170080949A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B60G17/0182—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method involving parameter estimation, e.g. observer, Kalman filter
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/20—Mounting of accessories, e.g. pump, compressor
    • B60G2204/202—Mounting of accessories, e.g. pump, compressor of cables
    • B60G2204/2022—Mounting of accessories, e.g. pump, compressor of cables using a suspension element (e.g. link, damper or spring) as part of the electrical circuitry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
    • B60G2204/422—Links for mounting suspension elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/18—Automatic control means
    • B60G2600/187—Digital Controller Details and Signal Treatment
    • B60G2600/1875—Other parameter or state estimation methods not involving the mathematical modelling of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

A suspension force estimation system and method for a traveling vehicle (robot) having a 4-bar link structure is disclosed.
According to the present invention, there is provided a method of estimating a suspension force of a vehicle (robot), comprising the steps of inputting an initial measurement necessary for estimating a suspension force of a vehicle (robot), driving the main body to apply a force to the suspension, measuring an angle at which the link moves, Storing the angle, calculating a force applied to the suspension based on the stored initial measurement and an angle at which the link moves, and outputting the calculated result.
According to the present invention as described above, there is no need to perform a dynamic analysis of a complicated process, and it is possible to easily calculate a vertical drag by estimating a force applied to a suspension of a vehicle (robot) without using expensive sensors have.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspension force estimation system and method for a traveling vehicle (robot) having a four-bar link structure,

The present invention relates to a suspension force estimating system and method for a traveling vehicle (robot) having a 4-bar link structure, and more particularly, to a suspension force estimating system and method for estimating the suspension stability of a vehicle (robot) And more particularly to a suspension force estimation system and method capable of estimating the suspension force of a vehicle (robot) for measurement.

In general, it is very difficult to accurately predict the motion characteristics of a vehicle. Such a motion characteristic may have an influence on the driver in terms of the degree of fatigue, decrease in driving func- tion, and stability of the driving which may affect the driver's life Is a very important factor that can be determined.

Therefore, when developing a vehicle, design goals should be set for these characteristics, and design and development should be carried out while confirming whether the level of design can satisfy the design target.

The driving stability is most important not only for vehicles such as commercial vehicles running on the road, SUVs running off-road, but also for robots such as mobile robots, military robots, exploration robots and disaster rescue robots.

In addition, the inclination of the vehicle body is the most basic in determining the stability of the vehicle. In order to determine the inclination of the vehicle body, various sensors are used, or the stability is determined through dynamic analysis.

On the other hand, a number of prior patents are disclosed in addition to Korean Patent No. 0231200 (attachment structure of sensing element for differential load measurement).

The above-mentioned prior patent discloses a method of measuring the load of a vehicle by attaching various sensors.

However, such a dynamic analysis requires a complicated process.

Further, in order to measure the load, expensive sensors are used, which causes a problem of consuming a lot of cost.

Korea Patent No. 0231200 (published on March 30, 1998)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a suspension force estimation device for a vehicle, which can easily estimate a suspension force of a robot without requiring a dynamic analysis of a complex process .

The object of the present invention is to reduce the cost by making it possible to estimate the suspension force of a vehicle (robot) without using expensive sensors.

According to an aspect of the present invention, there is provided a suspension force estimation method for a traveling vehicle (robot) having a 4-bar link structure,

And a step of inputting to the input unit initial measurement values that can be measured with respect to the suspension and the link in which the control unit is installed in the vehicle (robot).

And the control unit drives the main body to drive the wheel, thereby applying a force to the suspension.

In addition, the control unit controls the angle extracting unit to measure the angle at which the link moves by driving the wheel.

And storing an initial measurement value received from the input unit and an angle at which the link measured by the angle extracting unit moves.

In addition, the controller may calculate the force applied to the suspension by receiving the initial measurement value and the angle at which the link moves.

The controller may output the calculated result through an output unit.

In order to solve the above-mentioned problems, a suspension force estimation system of a traveling vehicle (robot) having a four-bar link structure according to the present invention includes a driving unit including a link and a suspension driven according to driving of a wheel, And an input unit for inputting initial measurement values to be measured with respect to links and suspensions of the driving unit.

And an angle extracting unit for measuring an angle at which the link is moved by the operation of the driving unit.

The apparatus also includes a storage unit for storing an initial measured value input from the input unit and an angle at which the link measured by the angle extracting unit moves.

And a control unit connected to the driving unit, the input unit, the angle extracting unit, the storage unit, and the output unit to control the operation, and the initial measurement value and the angle at which the link moves are received from the storage unit to calculate a force applied to the suspension .

And an output unit for outputting a result calculated by the control unit.

According to the present invention as described above, it is possible to easily calculate the vertical drag by estimating the suspension force of a vehicle (robot) without needing a dynamic analysis of a complex process.

In addition, it is possible to obtain a vertical drag force without using expensive sensors, thereby reducing the cost.

1 is a block diagram of a suspension force estimation system of a traveling vehicle (robot) having a 4-bar link structure.
2 is a view showing a vehicle (robot) equipped with a suspension force estimation system.
Figure 3 is an enlarged view of the suspension force estimation system in Figure 2;
Fig. 4 is a view in a two-dimensional plane with respect to Fig. 3. Fig.
FIG. 5 is a diagram showing a two-dimensional plane view of driving of the suspension. FIG.
6 is a flowchart sequentially showing an embodiment of a suspension force estimation method of a traveling vehicle (robot) having a 4-bar link structure.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise. Also, the terms " part, "" ... "," module ", and the like described in the specification mean units for processing at least one function or operation, and may be implemented by hardware or software or a combination of hardware and software .

Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings.

Like reference symbols in the drawings denote like elements.

Fig. 1 is a block diagram of a suspension force estimation system of a traveling vehicle (robot) having a 4-bar link structure according to an embodiment of the present invention, Fig. 2 is a block diagram of a suspension force estimation system Fig. 8 is an illustration showing a vehicle (robot). Fig.

1 and 2, the suspension force estimation system of a traveling vehicle (robot) having a 4-bar link structure according to an embodiment of the present invention is installed on one side of a vehicle (robot) do.

That is, the system for estimating the force of the suspension includes a driving unit 100, an input unit 200, an angle extracting unit 300, a storage unit 400, a control unit 500, and an output unit 600.

3, the driving unit 100 includes a link 110 and a suspension 120 installed between the vehicle body and the wheel 11 and operated according to the driving of the wheel 11. As shown in FIG.

In the input unit 200, initial measurement values that can be measured for the link 110 and the suspension 120 of the driving unit 100 are input.

The initial measurement includes the length and position coordinates of the link 110 and the suspension 120 that can be checked during the installation process of the driving unit 100, the spring constant, the damping coefficient, and the like.

The angle extracting unit 300 measures the angle at which the link 110 moves when the driving unit 100 operates.

The storage unit 400 stores an initial measurement value input from the input unit 200, an angle at which the link measured by the angle extraction unit 300 moves, and an operation result calculated by the control unit 500.

The control unit 500 is connected to the driving unit 100, the input unit 200, the angle extraction unit 300, the storage unit 400, and the output unit 600, And calculates the force applied to the suspension 120. The force applied to the suspension 120 is calculated based on the initial measured value and the angle at which the link moves.

In addition, the output unit 600 outputs the result calculated by the controller 500. FIG.

The driving unit 100 will be described in more detail as follows.

FIG. 3 is an enlarged view of the driving unit 100 of the suspension force estimation system in FIG.

The driving unit 100 includes a link 110 and a suspension 120. The link 110 is connected to one side of the main body 10 and operates in a 4 bar link structure. 10 and one end of the link 110 are connected to both ends.

That is, the link 110 includes an A bar 111 and a C bar 113 which are rotatably connected at one end of a vehicle (robot) And the B bar 112 linked to both ends forms a 4 bar link structure.

More specifically, one end of the A bar 111 is rotatably connected to one side of the body 10, and the other end of the A bar 111 is linked to one end of the B bar 112.

The other end of the B bar 112 is connected to one end of the C bar 113 and a wheel 11 of a vehicle (robot) is mounted on one side of the B bar 113.

The other end of the C bar 113 is rotatably connected to the other side of the main body 10.

Thus, the main body 10 between the A bar 111, the B bar 112, the C bar 113, the end of the A bar 111 and the end of the C bar 113 forms a four bar link structure .

Here, if necessary, the D bar 114 may be linked between each end of the C bar 113 and the A bar 111 connected to one side of the main body 10 to form a four bar link structure Do.

One end of the suspension 120 is rotatably connected to the other side of the main body 10 and the other end of the suspension 120 is rotatably connected to one side of the A bar 111.

The angle extracting unit 300 may be a method for measuring the angle at which the link 110 moves, a method of extracting an angle at which the link moves using a variable resistor having a linear characteristic, It is possible to use a method of measuring the moving angle.

A suspension force estimation method of a traveling vehicle (robot) having a 4-bar link structure having such a configuration will now be described.

The suspension force estimation method of a traveling vehicle (robot) having a 4-bar link structure according to an embodiment of the present invention is configured to calculate the force of the suspension 120 based on the angle at which the link 110 is moved.

4 and 5, which are correspondingly shown in a two-dimensional plane for Fig. 3, are used for ease of operation and explanation.

In the two-dimensional plan view of FIG. 4, the reference coordinates are positions at which one end of the A bar 111 is rotatably connected to one side of the main body 10, and the connected positions are used as relative origin coordinates.

When the wheel 11 is driven upward relative to the reference coordinates of FIG. 4 by the vertical drag of the vehicle (robot) in the driving unit 100, the B bar 112 connected to the wheel 11, The link 110 is driven.

The ends of the suspension 120 connected to one side of the A bar 111 are driven upward together and the length of the suspension 120 is determined based on the relative fixed coordinates Pf (Xf, Yf) of the suspension 120 Compressed.

The coordinate Pf (Xf, Yf) of the end of the suspension 120 is connected to one side of the main body 10 and is a fixed coordinate relative to a reference coordinate connected to one side of the main body 10.

At this time, initial measurement values that can be easily measured through the manufacturing process of the driving unit 100 and the configuration of FIG. 4 are provided.

As described above, the position where one end of the A bar 111 on the link 110 is connected to one side of the main body 10 is assumed as relative reference coordinates.

The position coordinates Pf (Xf, Yf), at which one end of the suspension 120 is rotatably connected to one side of the main body 10, are also provided as fixed coordinates measured during the manufacturing process of the driving unit 100. [

The position coordinates Pf (Xf, Yf) can be simply obtained by measuring the length from the reference coordinates to Pf (Xf, Yf).

The lengths of the A bar 111, the B bar 112 and the C bar 113 on the link 110 are also initial measurements measured in the manufacturing process.

The length c between the coordinates Ps (Xs, Ys) at which the suspension 120 is connected to one side of the A bar 111 at the end Pl (Xl, Yl) of the A bar 111 is also an initial measurement to be.

Thus, the new coordinates Pl (Xl, Yl) for the other end of the A-bar 111, which has been moved together with the wheel 11 being driven upward, is calculated by the trigonometric function formula according to the following equation (1) It becomes.

[Equation 1]

Pl (Xl, Yl) = (Llcos?, Llsin?)

(Ll is the length of the A bar 111, and &thetas; is the angle at which the A bar 111 moves)

Similarly, it is possible to obtain the lengths of a and b by using a given length c between P1 (Xl, Yl) and Ps (Xs, Ys) and the angle [theta]

a = c (cos?), b = c (sin?),

(c is the length between Pl (Xl, Yl) and Ps (Xs, Ys)

When this is used to obtain new coordinates of the compressed end of the suspension,

Ps (Xs, Ys) = Ps (Xl-a, Yl-b)

, And the compressed new length Lsp of the suspension 120 is obtained by the following equation (2).

&Quot; (2) "

Lsp = sqrt ((Xf - Xs ') ^ 2 + (Yf - Ys') ^ 2)

      = sqrt ((Xf - Xl - a) ^ 2 + (Yf - Yl - b) ^ 2)

The amount of change in the length of the suspension 120 is obtained by the following equation (3).

However,

x = Lsi - Lsp

(Where x is the length variation of the suspension, Lsi is the initial uncompressed total length of the suspension 120, and Lsp is the compressed overall length of the suspension)

Further, the force of the suspension 120 using the amount of change in the length of the suspension 120 can be obtained according to the following equation (4).

&Quot; (4) "

F = Kx + Cx '

(F is the force of the suspension 120, K is the spring constant, and C is the damping coefficient)

Here, x '= x / (sampling time)

.

The spring constant K and the damping coefficient C can be confirmed through the specifications of the suspension 120 mounted in the manufacturing process of the driving unit 100.

The suspension force estimation method of the traveling vehicle (robot) having the 4-bar link structure is summarized as follows.

6, the method for estimating the force of a suspension includes an input step S100, a driving step S200, an angle extraction step S300, a storage step S400, an operation step S500, S600).

The input step S100 inputs the initial measured values of the link 110 and the suspension 120 that can be measured and verified in the manufacturing process of the suspension 120 force estimation system to the input unit 200.

In the driving step S200, the main body 10 and the driving unit 100 are driven to drive the wheel 11. [

Thus, the link 110 and the suspension 120 of the driving unit 100 are driven.

The angle extracting step S300 measures the angle at which the link 110 is moved by driving the wheel 11 by the angle extracting unit 300. [

The storing step S400 stores the initial measured value input from the input unit 100 and the angle at which the link 110 measured by the angle extracting unit 300 moves.

The calculation step S500 calculates the force of the suspension 120 according to the above-described equations based on the initial measured value stored in the storage unit 400 and the angle at which the link 110 moves .

The output step S600 outputs the result calculated in the operation step S500 through the output unit 600. [

This makes it possible to measure the force applied to the suspension 120 of the vehicle (robot) without using a complicated dynamic analysis or an expensive sensor.

Then, the vertical drag of the vehicle (robot) can be calculated based on the force applied to the suspension 120 of the vehicle (robot).

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, And all changes to the scope that are deemed to be valid.

10: main body 11: wheel
100: driving unit 110: link
111: A bar 112: B bar
113: C bar 114: D bar
120: Suspension 200: Input
300: angle extracting unit 400:
500: control unit 600: output unit

Claims (8)

1. A suspension force estimation system for a vehicle (robot) having a wheel at a lower portion thereof,
A driving unit disposed between the vehicle body and the wheel, the driving unit including a link and a suspension operated according to driving of the wheel;
An input unit for inputting an initial measurement value for a link and a suspension of the driving unit;
An angle extracting unit for measuring an angle at which the link of the driving unit moves;
A storage unit for storing an initial measured value input from the input unit and an angle at which the link measured by the angle extracting unit moves;
A control unit connected to the driving unit, the input unit, the angle extracting unit, the storage unit, and the output unit to control the operation, and to calculate an initial measured value input from the input unit and an angle at which the link moves,
And an output unit for outputting a result calculated by the control unit. The suspension force estimating system of a traveling vehicle (robot) having a 4-bar link structure.
The method according to claim 1,
The driving unit includes a link and a suspension which are formed of the bars A, B, and C,
One end of the A bar is rotatably connected to one side of the main body,
The other end of the bar A is linked to one end of the bar B, the wheel is mounted on one side of the bar B,
The other end of the B bar is linked to one end of the C bar,
And the other end of the C bar is rotatably connected to the other side of the body,
Wherein the suspension has one end rotatably connected to the other end of the main body and the other end rotatably connected to one side of the A bar.
The method according to claim 1,
The initial measured values input to the input unit include the length of the link and the position at which the link is fixed, the length of the suspension before being compressed, the upper fixed point coordinates of the suspension, the lower fixed point coordinates of the suspension, A distance, a spring constant of the suspension, and a damping coefficient of the suspension are included in the suspension force estimation system of the traveling vehicle (robot).
The method according to claim 1,
Wherein the angle extracting unit extracts an angle of movement of the link using a variable resistor having a linear characteristic or measures the angle of movement of the link by mounting an encoder. Suspension force estimation system.
A method of estimating a suspension force of a vehicle (robot) having a wheel at a lower portion thereof,
Inputting an initial measurement of the link and the suspension to the input (S100);
The control unit driving the main body to drive the wheel (S200);
The control unit controlling the angle extracting unit to measure an angle at which the link moves by driving the wheel (S300);
(S400) of storing, in the storage unit, an initial measurement value input from the input unit and an angle at which the link measured by the angle extraction unit moves;
(S500) of calculating the force of the suspension by receiving the initial measurement value and the angle at which the link moves from the storage unit;
(S600) of outputting the calculated result of the control unit through an output unit. The suspension force estimating method of a traveling vehicle (robot) having a 4-bar link structure.
6. The method of claim 5,
Wherein the control unit calculates a length change amount of the suspension in accordance with the following equation (3): " (3) "
&Quot; (3) "
x = Lsi - Lsp
(Where x is the length variation of the suspension, Lsi is the uncompressed total length of the suspension, and Lsp is the compressed total length of the suspension)
The method according to claim 6,
Wherein the controller calculates a total compressed length of the suspension in accordance with Equation (2) below. ≪ EMI ID = 2.0 >
&Quot; (2) "
Lsp = sqrt ((Xf - Xs ') ^ 2 + (Yf - Ys') ^ 2)
(Where Xf and Yf are the fixed coordinates of the suspension end connected to one side of the body, and Xs and Ys are the new coordinates of the compressed other end of the suspension)
6. The method of claim 5,
Wherein the controller calculates a suspension force in accordance with the following equation (4): " (4) "
&Quot; (4) "
F = Kx + Cx '
(Where F is the force of the suspension, K is the spring constant, C is the damping coefficient, x 'is x / (sampling time)
KR1020150190991A 2015-12-31 2015-12-31 Easy estimation system and method of wheel lift and suspension force for a vehicle and mobile robot KR20170080949A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230056955A (en) * 2021-10-21 2023-04-28 한국기술교육대학교 산학협력단 Wildlife elimination extermination robot system and method of operation thereof
WO2023113065A1 (en) * 2021-12-13 2023-06-22 엘지전자 주식회사 Robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230056955A (en) * 2021-10-21 2023-04-28 한국기술교육대학교 산학협력단 Wildlife elimination extermination robot system and method of operation thereof
WO2023113065A1 (en) * 2021-12-13 2023-06-22 엘지전자 주식회사 Robot

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