Motion control system for four-wheel individual drive patrolling device

Abstract

The invention discloses a motion control system for a four-wheel individual drive patrolling device and belongs to the field of mechanical structure design and automatic control. The system needs to adapt to complex and changeable terrain environments, drive performance and reliability need to be high, and the system can guarantee that an instrument in a carriage of the patrolling device can stably finish a detection task. The system comprises an upper computer and a lower computer, the upper computer is a PC, the lower computer is an industrial PC 104, and the upper computer communicates with the lower computer in a wireless manner. Each wheel of the patrolling device is internally provided with a drive motor and a steering motor, and the patrolling device can be made to steer at any radius. Every two motors are located in the corresponding wheel, sand is prevented from entering the corresponding wheel, the service life of the motors is prolonged, and the stability of the motors is improved. An embedded real-time system VxWorks is selected to be used as a control system to improve the instantaneity of the system, and a field bus CAN bus is selected to be used as a communication bus to improve the communication efficiency of the system.

Description

technical field [0001] The invention designs a motion control system of a four-wheel independent drive patrol device, which belongs to the field of mechanical mechanism design and automatic control. Background technique [0002] With the development and progress of modern science and technology, the pace of human exploration of outer space is accelerating. As the main tool for exploring outer space, the rover can replace astronauts in harsh or unknown environments and complete scientific detection tasks. As the most important part of the patrol, the motion control system of the patrol is directly related to the success or failure of the detection task, so it is very necessary to design an excellent motion control system. [0003] At present, the deep space exploration rovers that have been successfully launched and applied are mainly based on the six-wheel system, and the US "Spirit" and "Curiosity" Mars rovers are all six-wheel control structures. The six-wheel structure ...

AI Technical Summary

Problems solved by technology

The six-wheel structure is relatively complex, the volume and mass of the car body are relatively large, and its control calculations are cumbersome and affect its reliability and flexibility

Although the design of the mechanical structure can make the patrol better adapt to the ground environment, its complex structure and most of the motors are exposed outside, which brings great challenges to its long-term normal work, and the patent does not introduce the patrol in detail Motion Control System Design

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