According to the two-drive two-steering motion control system for the unmanned vehicle, a front wheel left motor and a front wheel right motor are arranged at the front end of a vehicle frame, a rear wheel left motor and a rear wheel right motor are arranged at the rear end of the vehicle frame, a front wheel left motor driver is connected with the front wheel left motor, and a front wheel right motor driver is connected with the front wheel right motor; a rear wheel left motor driver is connected with a rear wheel left motor, a rear wheel right motor driver is connected with a rear wheel right motor, a front wheel control electric signal is connected with the front wheel left motor driver and the front wheel right motor driver, and a rear wheel control electric signal is connected with the rear wheel left motor driver and the rear wheel right motor driver. Meanwhile, a front wheel control electric signal and a rear wheel control electric signal are sent to the kinematic model and are set to be in one-way triggering, only one electric signal is in a running state during triggering each time, control is completed through the electric signals, the control precision of the unmanned vehicle is improved, the cost can be saved, so that two-drive and two-steering motion control is realized.
一种用于无人车的两驱两转向运动控制系统,其中,车架前端设置有前轮左电机与前轮右电机,车架后端设置有后轮左电机与后轮右电机,前轮左电机驱动器与前轮左电机连接,前轮右电机驱动器与前轮右电机连接,后轮左电机驱动器与后轮左电机连接,后轮右电机驱动器与后轮右电机连接,前轮控制电信号与前轮左电机驱动器、前轮右电机驱动器连接,后轮控制电信号与后轮左电机驱动器、后轮右电机驱动器连接,同时前轮控制电信号、后轮控制电信号分别接入运动学模型,且前轮控制电信号、后轮控制电信号设置为单向触发,每次触发仅有一个电信号处于运行状态,通过电信号完成控制,使无人车控制精度得到提高,并能节约成本从而实现两驱两转向运动控制。
Two-drive two-steering motion control system for unmanned vehicle
一种用于无人车的两驱两转向运动控制系统
18.02.2022
Patent
Elektronische Ressource
Chinesisch
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