Turnable unmanned moon vehicle driven by hub motors and control method thereof

An in-wheel motor and unmanned driving technology, which is applied in the field of unmanned lunar rover systems, can solve problems such as unsatisfactory obstacle performance, low redundancy, and complexity, so as to improve steering flexibility, improve economy, and simplify the chassis structure effect

Inactive Publication Date: 2013-10-02
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

At present, vehicles at home and abroad generally use the output torque of the engine to output through the transmission device and the differential mechanism. However, the transmission

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  • Turnable unmanned moon vehicle driven by hub motors and control method thereof
  • Turnable unmanned moon vehicle driven by hub motors and control method thereof
  • Turnable unmanned moon vehicle driven by hub motors and control method thereof

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[0026] The accompanying drawings non-limitingly disclose the schematic structural diagrams of the preferred embodiments of the present invention; the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0027] Such as Figure 1 to 9 As shown, the reversible hub motor-driven unmanned lunar rover of the present invention includes a lunar rover body, which includes an electronic control unit ECU, a chassis, and a detection-sampling device mounted on the chassis. The chassis The rear end of the chassis is equipped with a driven rear wheel through the rear axle, and the front end of the chassis is equipped with a driving front wheel on the left and right sides of the front axle. The driving front wheel includes a triangular crawler wheel. The triangular crawler wheel includes a tripod and Crawler, the center of the tripod is installed on the front end of the chassis through the front axle, and the tripod is rad...

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Abstract

The invention provides a turnable unmanned moon vehicle driven by hub motors which comprises a moon vehicle body, wherein the moon vehicle body comprises an ECU (electronic control unit), a chassis and detecting-sampling equipment mounted on the chassis; a driven rear wheel is mounted at the back end of the chassis through a rear axle; a driving front wheel is mounted at each of the left side and the right side of the front end of the chassis through a front axle. Meanwhile, the invention provides a control method of the turnable unmanned moon vehicle driven by the hub motors. An ECU can control the operation of a turnable motor and various hub motors automatically to realize the smooth driving and detecting under complex pavement conditions according to the feedback information of a laser sensor, an angle sensor, rotating speed sensors and torque sensors.

Description

technical field [0001] The invention relates to an unmanned exploration lunar rover system, in particular to an unmanned exploration lunar rover system driven by a hub motor and capable of differential steering and obstacle overturning. Background technique [0002] For the lunar surface environment, the unmanned lunar rover needs to adapt to various landforms, dusty, near-vacuum and other complex and harsh conditions, which have high requirements for the light weight, high redundancy and obstacle-crossing performance of the rover. At present, vehicles at home and abroad generally use the output torque of the engine to achieve output through the transmission device and the differential mechanism. However, the transmission and differential mechanism are required to make the mechanical structure of the vehicle extremely complex, the redundancy is low, and the obstacle-crossing performance is not ideal. Contents of the invention [0003] Purpose of the present invention: In o...

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Application Information

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IPC IPC(8): B64G1/16B60W40/06B60W40/10B60W40/12
Inventor 赵万忠席佳胜胡明煜陈俊飞邱浩崔滔文陈星宇
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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