CN113859359A - Movement control method of light explosion-proof four-wheel eight-drive chassis - Google Patents
Movement control method of light explosion-proof four-wheel eight-drive chassisDownload PDFInfo
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- CN113859359A CN113859359ACN202111468406.9ACN202111468406ACN113859359ACN 113859359 ACN113859359 ACN 113859359ACN 202111468406 ACN202111468406 ACN 202111468406ACN 113859359 ACN113859359 ACN 113859359A
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- 238000000034methodMethods0.000titleclaimsabstractdescription29
- 238000004891communicationMethods0.000claimsabstractdescription42
- 238000003860storageMethods0.000claimsdescription4
- 238000011065in-situ storageMethods0.000abstractdescription3
- 238000012423maintenanceMethods0.000abstractdescription2
- 238000010586diagramMethods0.000description4
- 238000005299abrasionMethods0.000description1
- 230000007547defectEffects0.000description1
- 230000000694effectsEffects0.000description1
- 230000003287optical effectEffects0.000description1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
Description
Technical Field
The invention belongs to the field of mobile control methods, and particularly relates to a mobile control method of a light explosion-proof four-wheel eight-drive chassis.
Background
The existing robot chassis applied to an explosion-proof scene generally adopts the mobile control modes of four-wheel differential, two-wheel differential, front-wheel drive rear-wheel steering and rear-wheel drive front-wheel steering, and the control drive modes enable the small size and the flexibility to be incompatible.
The existing two-wheel differential and four-wheel differential mode has small turning radius and lacks functions of transverse and lateral movement, so the method is not flexible enough in a narrow use environment; the front wheel and rear wheel steering mode is comprehensive in function, but large in turning radius, and is not suitable for narrow space scenes.
In addition, motor equipment needs to be subjected to explosion-proof treatment in an explosion-proof use scene, so an explosion-proof chassis designed in a traditional direct-current brushless servo motor and separated driver mode is generally heavier, and wheels are seriously abraded when the chassis is heavier by adopting a four-wheel differential drive control mode.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the defects in the prior art and provides a movement control method of a light explosion-proof four-wheel eight-drive chassis.
The technical scheme is as follows: the invention discloses a movement control method of a light explosion-proof four-wheel eight-drive chassis, which is characterized in that a walking motor is respectively arranged at four walking wheel shafts of the chassis, a steering motor is respectively arranged at four walking wheel rotating shafts of the chassis, the four steering motors and the four walking motors are respectively hung on a first communication control bus and a second communication control bus and are controlled by a Micro Control Unit (MCU), and the specific control method comprises the following steps:
when the chassis is powered on, the steering motor drives the travelling wheels to steer and mark zero, so that the four travelling wheels are all in vertical positions when the chassis is started;
when chassis forward control is executed, the micro control unit MCU uniformly executes a forward speed instruction through a second communication control bus of the walking motor: the two walking motors arranged on the left side and the right side have the same rotating speed, and the two walking motors arranged on the left side and the right side have opposite rotating speeds, so that the rotating directions of the walking motors on the left side and the right side are opposite;
when the chassis backing control is executed, the micro control unit MCU uniformly executes a backing speed instruction through a second communication control bus of the walking motor: the two walking motors arranged on the left side and the right side have the same rotating speed, and the two walking motors arranged on the left side and the right side have opposite rotating speeds, so that the rotating directions of the two walking motors on the left side and the right side are opposite;
when the chassis pivot rotation control is executed, the micro control unit MCU firstly uniformly executes a steering absolute angle control instruction through a first communication control bus of the steering motor: the two steering motors arranged at diagonal positions have the same rotation angle, the steering motors arranged at different diagonal positions have opposite rotation angles, and then when the rotation angles of the steering motors are in place, differential walking speed instructions are issued uniformly through a second communication control bus of the walking motors;
when chassis lateral movement walking control is executed, the micro control unit MCU firstly controls each steering motor to rotate to a horizontal angle position, and then uniformly issues a differential walking speed control instruction through a second communication control bus of the walking motors.
Further, the specific method for the steering zeroing comprises the following steps: detecting the state of a zero-marking optocoupler after the chassis is powered on, and controlling a steering motor to rotate forward to find the position of the optocoupler when the optocoupler is shielded; when the optocoupler is not shielded, the steering motor is controlled to rotate reversely to find the shielded position of the optocoupler. In the process of marking zero of the steering motor, the micro control unit MCU continuously inquires the coding value of each motor through the corresponding CAN bus, when the motor rotates to the state of the optocoupler and is changed, the motor enters a system to interrupt and record the current coding value of the motor, and the coding value is set as the zero point of the motor until the zero marking is finished.
Furthermore, the walking motor adopts an integrated direct-current brushless servo motor to provide rotating power for the walking wheel; the steering motor adopts a servo steering motor and provides steering power for the traveling wheels.
Furthermore, the micro control unit MCU comprises a microprocessor, and a power module, a communication protocol module, a CAN bus module and an I/O module which are controlled by the microprocessor, wherein the first communication control bus and the second communication control bus are respectively connected with the CAN bus module, the power module supplies power to other modules, and the I/O module is used for realizing zero marking limit and emergency stop of the travelling wheel; the MCU microcontroller respectively keeps communication with the steering motor and the walking motor through the communication protocol module and issues control motor control instructions; and meanwhile, the I/O state of the steering motor, the walking motor and the I/O module is transferred to an upper computer through a communication protocol module.
The invention also discloses a computer storage medium, wherein a movement control program of the light explosion-proof four-wheel eight-drive chassis is stored in the computer storage medium, and the program executes the movement control method of the light explosion-proof four-wheel eight-drive chassis when being executed.
Has the advantages that: compared with the prior art, the invention has the following advantages:
(1) compared with the existing separated driving mode, the invention uses the integrated direct-current brushless servo motor and the servo steering engine, reduces the total weight of the chassis after explosion-proof treatment, and ensures that the chassis has smaller volume and more stable bus control.
(2) The invention has simple control procedures by using front-wheel drive and rear-wheel drive steering or four-wheel and two-wheel differential speed, small number of used total motors and simple whole circuit, but the actual motion control effect is more flexible.
(3) Under the condition that the battery capacity is unchanged, the light chassis can drive for a longer distance, the electric energy is saved, the chassis can use 36V batteries, and the continuous running distance of the robot can exceed 70KM by using 40Ah batteries.
(4) The four-wheel eight-wheel-drive chassis structure increases omnidirectional movement control and is more suitable for narrow space.
(5) The turning radius of the robot is optimized, the abrasion of tires is reduced to the maximum extent, and the maintenance cost of the chassis is reduced.
In conclusion, the invention is an omnidirectional chassis movement control method, which can plan the optimal driving route of the chassis and save the movement control task time.
Drawings
FIG. 1 is a diagram of a chassis control system hardware design architecture;
FIG. 2 is a schematic diagram of the zero motion control of the present invention;
FIG. 3 is a schematic view of the linear motion control of the present invention;
FIG. 4 is a schematic diagram illustrating in-situ rotational motion control according to the present invention;
FIG. 5 is a schematic illustration of lateral movement control according to the present invention;
FIG. 6 is a schematic diagram of optimized optimal path planning in the present invention;
FIG. 7 is a flow chart of an embodiment of a direction indicator zero;
FIG. 8 is a flow chart of an embodiment of an in-situ rotation process.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
As shown in fig. 1, in the movement control method of the light explosion-proof four-wheel eight-wheel drive chassis according to this embodiment, a traveling motor is installed at each of four traveling wheel shafts of the chassis, a steering motor is installed at each of four traveling wheel rotating shafts of the chassis, and the four steering motors and the four traveling motors are respectively mounted on a first communication control bus and a second communication control bus and controlled by a micro control unit MCU (e.g., UCOS-STM32F 407). The walking motor adopts an integrated direct-current brushless servo motor and provides rotating power for the walking wheel; the steering motor adopts a servo steering motor and provides steering power for the traveling wheels.
The micro control unit MCU comprises a microprocessor, and a power module, a communication protocol module, a CAN bus module and an I/O module which are controlled by the microprocessor, wherein a first communication control bus and a second communication control bus are respectively connected with the CAN bus module; the MCU microcontroller respectively keeps communication with the steering motor and the walking motor through the communication protocol module and issues control motor control instructions; and meanwhile, the I/O state of the steering motor, the walking motor and the I/O module is transferred to an upper computer through a communication protocol module.
The specific control method comprises the following steps:
as shown in fig. 2 and 7, when the chassis is powered on, the steering motor drives the traveling wheels to perform steering zero marking first, so that the four traveling wheels are all in vertical positions when the chassis is started; the specific method for marking the steering zero comprises the following steps: detecting the state of a zero-marking optocoupler after the chassis is powered on, and controlling a steering motor to rotate forward to find the position of the optocoupler when the optocoupler is shielded; when the optocoupler is not shielded, the steering motor is controlled to rotate reversely to find the shielded position of the optocoupler. In the process of marking zero of the steering motor, the micro control unit MCU continuously inquires each motor coding value through the corresponding CAN bus, when the motor rotates to the optical coupler state and is changed, the system is interrupted to record the current motor coding value, and the coding value is set as the motor zero until the zero marking is finished.
As shown in fig. 3, when chassis forward control is executed, the MCU uniformly executes a forward speed command through the second communication control bus of the traveling motor: the two walking motors arranged on the same side are same in rotating speed, and the two walking motors arranged on the different sides are opposite in rotating speed.
When the chassis backing control is executed, the micro control unit MCU uniformly executes a backing speed instruction through a second communication control bus of the walking motor: the rotating speeds of the two walking motors arranged on the left side and the right side are the same, and the rotating speeds of the two walking motors arranged on the left side and the right side are opposite.
As shown in fig. 4 and 8, when performing chassis pivot rotation control, the MCU first uniformly executes a steering absolute angle control command through the first communication control bus of the steering motor: the two steering motors arranged at diagonal positions have the same rotation angle, the steering motors arranged at different diagonal positions have opposite rotation angles, and then when the rotation angles of the steering motors are in place, differential walking speed instructions are issued uniformly through a second communication control bus of the walking motors.
As shown in fig. 5, when chassis side-shifting walking control is performed, the MCU first controls the steering motors to rotate to a horizontal angle, and then issues a differential walking speed control command through the second communication control bus of the walking motors.
As shown in fig. 6, in the present embodiment,
when the target point is positioned in the 45-degree direction of the whole chassis, the steering motor can be controlled to rotate to the 45-degree direction, and then the walking motor is driven to move to the target position in the 45-degree direction. .
According to the embodiment, the turning radius of the explosion-proof chassis controlled by the four-wheel eight-drive chassis movement control method can be smaller than 800mm, the width of the chassis is smaller than 700mm, and the explosion-proof chassis is suitable for use scenes in narrow spaces. The weight of the explosion-proof chassis is less than 80KG, low friction in practical application also helps to stabilize the tire and increase the driving safety, the power supply module supplies power, and the whole weight is reduced, so that the single driving mileage can reach 5000KM, the energy is saved, the environment is protected, and the cruising ability is strong.
Claims (5)
1. A movement control method of a light explosion-proof four-wheel eight-drive chassis is characterized by comprising the following steps: the method comprises the following steps that a walking motor is respectively arranged at four walking wheel shafts of a chassis, a steering motor is respectively arranged at four walking wheel rotating shafts of the chassis, the four steering motors and the four walking motors are respectively hung on a first communication control bus and a second communication control bus and are controlled by a Micro Control Unit (MCU), and the specific control method comprises the following steps:
when the chassis is powered on, the steering motor drives the travelling wheels to steer and mark zero, so that the four travelling wheels are all in vertical positions when the chassis is started;
when chassis forward control is executed, the micro control unit MCU uniformly executes a forward speed instruction through a second communication control bus of the walking motor: the two walking motors arranged on the left side and the right side have the same rotating speed, and the two walking motors arranged on the left side and the right side have the opposite rotating speed;
when the chassis backing control is executed, the micro control unit MCU uniformly executes a backing speed instruction through a second communication control bus of the walking motor: the two walking motors arranged on the left side and the right side have the same rotating speed, and the two walking motors arranged on the left side and the right side have the opposite rotating speed;
when the chassis pivot rotation control is executed, the micro control unit MCU firstly uniformly executes a steering absolute angle control instruction through a first communication control bus of the steering motor: the two steering motors arranged at diagonal positions have the same rotation angle, the steering motors arranged at different diagonal positions have opposite rotation angles, and then when the rotation angles of the steering motors are in place, differential walking speed instructions are issued uniformly through a second communication control bus of the walking motors;
when chassis lateral movement walking control is executed, the micro control unit MCU firstly controls each steering motor to rotate to a horizontal angle position, and then uniformly issues a differential walking speed control instruction through a second communication control bus of the walking motors.
2. The movement control method of the light explosion-proof four-wheel eight-drive chassis as recited in claim 1, wherein: the walking motor adopts an integrated direct-current brushless servo motor and provides rotating power for the walking wheel; the steering motor adopts a servo steering motor and provides steering power for the traveling wheels.
3. The movement control method of the light explosion-proof four-wheel eight-drive chassis as recited in claim 1, wherein: the specific method for marking the steering zero comprises the following steps:
after the chassis is electrified and started, the zero-marking optocoupler state starts to be detected, if the optocoupler is shielded, the steering motor is controlled to rotate forwards to find the position where the optocoupler is separated from the chassis, and if the optocoupler is not shielded, the steering motor is controlled to rotate backwards to find the position where the optocoupler is shielded;
and the micro control unit MCU continuously inquires the coding value of each steering motor through the first communication control bus CA, enters a system to interrupt and record the current coding value of the steering motor when the steering motor rotates to the state of the optocoupler and is changed, and sets the coding value as a motor zero point until zero marking is completed.
4. The movement control method of a light explosion-proof four-wheel eight-drive chassis according to claim 1, characterized in that: the micro control unit MCU comprises a microprocessor, and a power module, a communication protocol module, a CAN bus module and an I/O module which are controlled by the microprocessor, wherein the first communication control bus and the second communication control bus are respectively connected with the CAN bus module, the power module supplies power for other modules, and the zero marking limit and the emergency stop of the travelling wheel are realized through the I/O module; the MCU microcontroller respectively keeps communication with the steering motor and the walking motor through the communication protocol module and issues control motor control instructions; and meanwhile, the I/O state of the steering motor, the walking motor and the I/O module is transferred to an upper computer through a communication protocol module.
5. A computer storage medium, characterized in that: the computer storage medium stores therein a movement control program of a light explosion-proof four-wheel eight-drive chassis, which when executed performs the movement control method of the light explosion-proof four-wheel eight-drive chassis according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111468406.9ACN113859359A (en) | 2021-12-03 | 2021-12-03 | Movement control method of light explosion-proof four-wheel eight-drive chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111468406.9ACN113859359A (en) | 2021-12-03 | 2021-12-03 | Movement control method of light explosion-proof four-wheel eight-drive chassis |
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| Publication Number | Publication Date |
|---|---|
| CN113859359Atrue CN113859359A (en) | 2021-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111468406.9APendingCN113859359A (en) | 2021-12-03 | 2021-12-03 | Movement control method of light explosion-proof four-wheel eight-drive chassis |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116811997A (en)* | 2023-08-02 | 2023-09-29 | 国广顺能(上海)能源科技有限公司 | Four-wheel eight-wheel-drive chassis platform |
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- 2021
- 2021-12-03CNCN202111468406.9Apatent/CN113859359A/enactivePending
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| CN205668589U (en)* | 2016-05-11 | 2016-11-02 | 姚连涛 | A kind of variable-angle actuating device, vehicle chassis |
| CN107433975A (en)* | 2016-05-27 | 2017-12-05 | 比亚迪股份有限公司 | Vehicle, vehicle steering system and centering control device and method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116811997A (en)* | 2023-08-02 | 2023-09-29 | 国广顺能(上海)能源科技有限公司 | Four-wheel eight-wheel-drive chassis platform |
| CN116811997B (en)* | 2023-08-02 | 2024-04-12 | 国广顺能(上海)能源科技有限公司 | Four-wheel eight-wheel-drive chassis platform |
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