67results about How to "Achieve steering control" patented technology

The invention belongs to the technical field of electric drive track vehicle control, and particularly relates to a driver signal analysis method for electric drive track vehicle control. According to the method, target vehicle speed is determined by utilizing difference between the opening degree of an accelerator pedal and the opening degree of a brake pedal, and acceleration and deceleration slope control is realized by limiting the difference value of the target vehicle speed and the actual vehicle speed; the difference of the target rotating speed of motors on double sides is determined by utilizing a steering wheel angle and sideslip limit turning radius, so that the difference between the target rotating speed and the actual rotating speed of each of the motors on double sides is determined; the driving torque of each of the motors on double sides is obtained by a PI regulator, so that the control method enables the vehicle to finish straight driving and turning functions and avoids sideslip caused by too small turning radius.

The invention discloses a micromechanical controllable flapping rotary wing aircraft and a manufacturing method as well as a control method thereof. Flight principle of the invention is that: wing oscillation is realized through motor driving; thrust force couple is produced to rotate; and then lift force is produced to realize flight. The control method provided by the invention comprises the following steps of: producing variable lift force by wings by adjusting motor power to realize control over vertical takeoff and landing and hovering; by using downwash produced by rotation of the wings, producing couple around a vertical oscillation shaft in a horizontal plane by controlling a steering control plane outside a body; driving the body to rotate to realize steering control; and forming resultant force in a certain direction in the horizontal plane by controlling a forward flight control plane outside the body to drive the aircraft to fly forward so as to realize forward flight control. The device has a simple and reliable structure and is low in cost. A steering and forward flight control system provided by the invention can realize the functions of vertical takeoff and landing, hovering, steering control and free forward flight of the aircraft.

The invention discloses a miniature flapping rotary wing aircraft based on voice coil motor driving and a manufacturing method, relating to a miniature flapping rotary wing aircraft and a manufacturing method and belonging to the field of miniature aircrafts. The miniature flapping rotary wing aircraft based on voice coil motor driving comprises wings, a rotating mechanism, a driving mechanism, a power source device, a direction control device and an elastic undercarriage, wherein the driving mechanism is used for transmitting linear reciprocating motion output by a voice coil motor to a main shaft and a flexible connecting piece, thereby driving the wings to flap upwards and downwards; the rotating mechanism is used for supporting the wings to freely rotate around the main shaft; the direction control device realizes direction change control by utilizing downwash airflow generated by the rotating wings through a pair of control planes. The invention also discloses the manufacturing method of the miniature flapping rotary wing aircraft. The miniature flapping rotary wing aircraft based on voice coil motor driving is capable of eliminating severe trembling in the horizontal direction of a fuselage caused by the driving mechanism on the basis of realizing the functions of vertical take-off and landing, hovering control, steering control and forward flight control. In addition, the miniature flapping rotary wing aircraft based on voice coil motor driving is concise in structure and is beneficial to microminiaturization of flapping rotary wing aircrafts.

The invention provides a differential automatic steering control system for an unmanned ship. The differential automatic steering control system comprises a navigation system, display equipment and anautomatic steering controller; the navigation system is used for acquiring position, heading and speed information of the unmanned ship; the display equipment is used for storing expected linear trajectory parameters of the unmanned ship and displaying state information of the unmanned ship; the automatic steering controller is used for calculating a control amount and outputting the control amount to an electronic speed governor, and the electronic speed governor is used for controlling the rotational speed of a propeller motor. According to the automatic steering system, steering gears at both sides are canceled, and propellers are fixed to a hull around a rotating shaft; through a designed control algorithm, the rotational speed difference between the left and right propellers is automatically adjusted, and the steering control over the unmanned ship is achieved.

The invention provides an ultra-high pressure water jet cleaning device for intelligently removing zebra stripes. The ultra-high pressure water jet cleaning device comprises a water tank, an ultra-high pressure pump and a zebra strip removing robot which is an executing device. The zebra strip removing robot comprises a vacuum sewage suction system, an ultra-high pressure rotary spray head, a walking device and a control unit. The walking device comprises a vehicle frame and a plurality of vehicle wheels installed on the vehicle frame and driven by an electric motor. The vacuum sewage suction system comprises a cover shell fixed to the vehicle frame, and an air compressor connected to the top face of the cover shell. The ultra-high pressure rotary spray head comprises a spray rod arranged in the cover shell, the spray rod is connected with the ultra-high pressure pump through a water feed rod, the lower surface of the spray rod is provided with spray nozzles evenly distributed, and the spray rod is driven by a pneumatic motor. The control unit comprises an image collection device, a PLC and a driver, wherein the image collection device, the PLC and the driver are connected. The electronic motor is controlled by the PLC and the driver. The ultra-high pressure water jet cleaning device can achieve walking, paint removing and vacuum sewage suction, removes the zebra strips under the action of the hitting power of water jets, and cannot damage the road.

The invention discloses a balance car steering control method and a balance car. The balance car includes a car body, and a pedal assembly arranged on the car body, and the pedal assembly includes pressure sensors corresponding to the bipods respectively; The foot pressure difference and the driver's weight; control the steering of the balance car according to the ratio of the pressure difference between the feet and the weight. The invention can realize precise steering without a rotating shaft.

A foldable polyhedral rolling mechanism comprises two extending and retracting top points (A), three foldable rod sets (B), six top point connecting shafts (9), three motors (10) and three counter weights (11). The six top pint connecting shafts (9) are used for connecting the two expanding and retracting top points (A) and the three foldable rod sets (B). Each expanding and retracting top point (A) is formed by a push rod synchronizing connecting rod (6) and a push rod base connecting rod (7) which are connected through an electric push rod (8). Each foldable rod set (B) is composed of two quadrilateral rod sets (B-1) and ball pair hinges (B-2) connecting the quadrilateral rod sets (B-1). The two expanding and retracting top points (A) are arranged at the upper end and the lower end of the mechanism respectively. The three foldable rod sets (B) are evenly distributed and the included angle between every two foldable rod sets (B) is 120 degrees. Folding and unfolding action of the mechanism is achieved through the electric push rods (8) on the two expanding and retracting top points (A). After the mechanism is unfolded, the moving function is achieved through control over deformation of the three foldable rod sets by the three motors (10).

The invention discloses a method for controlling a tracked vehicle to go straight and to turn, a steering device and a stepless steering system. The tracked vehicle is controlled to go straight and to turn by changing the transmission connection relation among a power input shaft, a left output shaft and a right output shaft. The method comprises the following steps that 1) when the tracked vehicle is controlled to turn, a left meshing gear on the left output shaft is meshed with a right meshing gear on the right output shaft to enable the two output shafts to be in transmission connection, and the power input shaft is selectively made to be in meshing transmission connection with one of the two output shafts through a gear according to the turning direction of the tracked vehicle; 2) when the tracked vehicle is controlled to go straight, the left meshing gear on the left output shaft is separated from the right meshing gear on the right output shaft, and the power input shaft is made to be respectively in meshing transmission connection with the two output shafts though gears. After a straight running mechanism breaks down or a steering brake mechanism breaks down, the tracked vehicle can be controlled to go straight through the steering device, and the tracked vehicle is guaranteed to walk normally.

The invention discloses a snakelike arm robot changing rigidity based on inner and outer core particle blocking. The snakelike arm robot comprises a pneumatic driving device, a pull rope driving device and a snakelike arm body; the snakelike arm body comprises an inner core filled with particles and an outer core wrapping the inner core; the pneumatic driving device can respectively change the vacuum degree of an inner cavity of the inner core and an inner cavity of the outer core; a wire is embedded on the outer side in the radial direction of the inner core, and the pull rope driving devicerealizes the steering of the corresponding direction of the snakelike arm by independently pulling one wire. The particle blocking technology is utilized, the particle gaps of the inner core and the outer core are respectively controlled to carry out rigidity control, the steering of the robot can be realized by controlling the wire, and the extension can be realized through independent rigidity change of the inner core and the outer core. After the target is reached, the inner core and the outer core simultaneously pump air to vacuum or negative pressure, and the robot can obtain higher rigidity. The robot has high rigidity changing response rate, less driving sources and wide rigidity changing range, and can realize flexible operation under the conditions of complex environment and narrow environment.

The invention discloses an auxiliary drive system of a variable-pitch system. A driver is connected with a control module, the output end of an auxiliary drive device and the output end of the driverare connected in parallel through the input end of a switching device, the output end of the switching device is connected with a variable-pitch motor, and the auxiliary drive device and the switchingdevice are in communication with the control module. When the driver fails, the power supply of the variable-pitch motor is switched to the output end of the auxiliary drive device, it is ensured that the variable-pitch system still can make blades return to a zero power angle when the driver fails, the defect that drive control over a variable-pitch motor by a variable-pitch system completely depends on a driver is overcome, and the safety of the variable-pitch system and even the whole unit can be improved. Meanwhile, by using the auxiliary drive device for phase control, steering control over the variable-pitch motor can be achieved, so that no additional auxiliary power supply is needed during blade installation and calibration in a wind power plant, installation equipment is reduced,and the installation process is simplified.

The invention discloses an automatic steering device for a floor cleaning machine, and a control method thereof. The automatic steering device comprises a manual driving control end, an automatic steering device driving end, and an automatic driving steering device control end. The automatic steering device completely realizes functions of steering control, corner feedback, and rapid and accurateresponse required in automatic driving of the floor cleaning machine, integrates three modes including manual driving, automatic driving and remote control driving, and can switch functions rapidly through buttons. The single device integrates three modes including manual driving, automatic driving and remote control driving of the floor cleaning machine. The manual driving control end is not directly, mechanically connected with the automatic steering device driving end, thereby being deployed on the floor cleaning machine conveniently and flexibly; a torque motor drives to produce steering resistance, so that the steering resistance is corresponding to manual operated steering wheel amplitude and is adjustable, and a user is clear about the path when operating to steer.

The invention relates to the technical field of computers and provides a steering control method and device for a vehicle, a storage medium and a controller. The steering control method comprises thefollowing steps of acquiring steering angle data of a left wheel of a vehicle collected by a first absolute value encoder and steering angle data of a right wheel of the vehicle by a second absolute value encoder; performing fused calculation on the steering angle data of the left wheel of the vehicle and the steering angle data of the right wheel of the vehicle to acquire a calculation result; and controlling the rotating speed of a steering motor of the vehicle according to the calculation result to achieve steering control of the vehicle. By arranging the two absolute value encoders to collect the steering angle data of the left and right wheels of the vehicle separately, when one of the absolute value encoders fails, one effective steering angle data can be further acquired, and at thetime, steering control still can be completed by means of the effective steering angle data, so that the stability and the redundancy of a steering control system are improved.

The invention discloses a flapping-wing air vehicle capable of hovering as well as a flight control method thereof. The flapping-wing air vehicle capable of hovering comprises a vehicle body and four single-flapping-wing mechanisms, wherein the four single-flapping-wing mechanisms are mounted on two sides of the vehicle body in a left-and right and front-and-back symmetrical manner, each single-flapping-wing mechanism comprises a swinging support, a flapping wing, an actuator, an eccentric bent rod and limit rods, the swinging supports are connected with the vehicle body through hinges, the included angle formed by each hinge shaft and the vertical direction of the plane where the vehicle body is located is a small acute angle, the flapping wings are fixedly connected with the swinging supports, the actuators are fixedly mounted on the vehicle body, every two limit rods are fixedly mounted on each swinging support, one end of each eccentric bent rod is fixedly connected with an output end of each actuator, the other end of each eccentric bent rod is bent, each bent section is inserted between every two limit rods, and rotation of output shafts of the actuators is converted into swinging of the swinging supports by the aid of eccentric rotation. The air vehicle is small in size, light in weight and capable of hovering stably during flight, the flapping wings can produce the larger lifting force and provide the enough lateral force, various maneuvering actions can be realized conveniently, flapping-wing swinging mechanisms are simple and reliable, and the actuating efficiency is high.

The invention discloses a constant-torque type automobile steering knuckle arm which comprises a front arm and a rear arm, a guide plate is fixedly arranged at one end of the front arm, a guide hole in sliding fit with the guide plate is formed in one end of the rear arm, and an upper positioning plate and a lower positioning plate which are distributed in parallel are fixedly arranged at the other end of the rear arm. The front arm and the rear arm are arranged and matched in a telescopic mode, the transmission rotating disc and the driving shaft which are used for controlling the front arm to stretch out and draw back are rotationally connected into the rear arm, the lower driving disc is arranged at one end of the driving shaft, and the lower portion of the transmission rotating disc is connected with the lower transmission disc. The lower driving disc is used for controlling the lower trnamission disc to rotate A for realizing extension or retreating action of the knuckle arm composed of the front arm and the rear arm; a connecting rod is fixedly arranged on the outer surface wall of the driving shaft, the connecting rod is used for being fixedly connected with one end of an external steering straight pull rod, and the included angle between the steering straight pull rod and the rear arm can be changed when the steering straight pull rod moves. Meanwhile, the knuckle arm is driven to extend, and constant-rotating arm steering control is achieved.

The present invention designs a crawler-type lifting vehicle, which adopts a hydraulically driven crawler-type walking chassis, and realizes the forward, backward and turning of the vehicle by controlling the rotating speed of the left and right hydraulic motors. Its lifting platform is composed of a scissor-type lifting mechanism and a telescopic work platform. The lifting is driven by a hydraulic cylinder. The independent pump is used to realize the operation of platform lifting and farm tool lifting, which achieves the purpose of energy saving and solves the problem of single oil pump oil supply making the walking power Insufficient problem.

The invention discloses a fixed wing type unmanned aerial vehicle with vertical takeoff and landing functions. The fixed wing type unmanned aerial vehicle comprises an unmanned aerial vehicle body, wherein fixed wings are arranged at both sides of the unmanned aerial vehicle body; a first driving motor and a first rotary wing are arranged on each fixed wing, each first rotary wing is arranged on the corresponding first driving motor, a first battery and a first driver control assembly are arranged in the unmanned aerial vehicle body, and the first battery is used for driving a first driver to act. The fixed wing type unmanned aerial vehicle has the advantages that in the takeoff phase, the fixed wing type unmanned aerial vehicle is vertical to the horizontal surface through a first bending mechanism and a second bending mechanism, and then vertically takes off and lands; after takeoff, the first bending mechanism and the second bending mechanism are reset, the whole unmanned aerial vehicle is in a straight line shape, and the advancing function is realized through the rotary wings on the two bending mechanisms; under the mutual action of the rotary wings on the fixed wings, the whole power and steering of the unmanned aerial vehicle can be controlled.

The invention relates to a bionic micro pore diameter drilling and counterboring type underground tunneling device supporting and propulsion mechanism which comprises a tail casing, a direct-current speed reduction motor, supporting claws and a supporting claw drive unit, wherein the tail casing is internally provided with the direct-current speed reduction motor; the supporting claw drive unit comprises a crown gear, symmetric spur gears, a first double-crank cam mechanism and a second double-crank cam mechanism; the direct-current speed reduction motor drives the crown gear; the crown gear is engaged with the symmetric spur gears at the same time; and the symmetric spur gears drive the first double-crank cam mechanism and the second double-crank cam mechanism separately so as to drive the two supporting claws. The bionic micro pore diameter drilling and counterboring type underground tunneling device supporting and propulsion mechanism is scientific and reasonable in structure design, realizes independent propulsion without external power equipment and is adapted to efficient propulsion of a micro pore diameter tunneling device.

The embodiment of the invention relates to a steering executing mechanism which comprises a hub motor assembly, an encoder, a steering transmission structure and a torque output unit, wherein the hub motor assembly is connected with a wheel; the encoder and the hub motor assembly are coaxially arranged; the steering transmission structure is arranged above the hub motor assembly and comprises a driving wheel assembly and a driven wheel assembly; the bottom surface of the driven wheel assembly is fixedly connected with the top surface of the hub motor assembly; the driving wheel assembly is matched with the driven wheel assembly for transmission; and the torque output unit is connected with the driving wheel assembly. According to the steering executing mechanism, control over the steering precision of an automatic driving vehicle can be achieved.