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。


    Access

    Download


    Export, share and cite



    Title :

    Two-drive two-steering motion control system for unmanned vehicle


    Additional title:

    一种用于无人车的两驱两转向运动控制系统


    Contributors:
    XIE XUNPENG (author) / CHEN SHOUHUI (author) / NI LINXUAN (author) / CAO XIONGWEI (author) / QI HONGHAO (author) / SHI XIAOLU (author) / LIU JING (author) / SUN WENXIN (author) / ZHONG YUAN (author)

    Publication date :

    2022-02-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge



    Steering drive-by-wire device for steering wheel of unmanned vehicle

    BU LINGSHAN | European Patent Office | 2024

    Free access

    Steering control method for six-wheel rear-drive unmanned support vehicle

    FU CHUANLIANG / WANG LONGXIAO | European Patent Office | 2023

    Free access

    Drive-by-wire full-hydraulic steering system for unmanned mining vehicle

    XU XIANZE / QIAO ZHI / ZHANG JUN et al. | European Patent Office | 2021

    Free access

    Intelligent steering control system of unmanned vehicle

    ZHANG YOUBING / SUN HAIMING | European Patent Office | 2023

    Free access

    Reversing steering control system of unmanned vehicle and vehicle

    FENG YONGGANG / ZHOU PENG / LI JIZHI | European Patent Office | 2023

    Free access