Electric control system of four-wheel driving four-wheel steering automatic driving chassis

An electronic control system, four-wheel steering technology, applied in the direction of fluid steering mechanism, control device, transportation and packaging, can solve the problem of not realizing the automatic driving of the chassis, and achieve the effect of ensuring reliability and meeting operational requirements.

Inactive Publication Date: 2017-05-31
许亚夫
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  • Abstract
  • Description
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Problems solved by technology

At present, although the existing domestic research can realize the driving and steering of the chassis, it has not reali

Method used

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  • Electric control system of four-wheel driving four-wheel steering automatic driving chassis
  • Electric control system of four-wheel driving four-wheel steering automatic driving chassis

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Embodiment Construction

[0021] Such as figure 1 As shown, the electronic control system of the four-wheel drive four-wheel steering automatic driving chassis is mainly composed of a driving system, a steering system, a hydraulic system, an electronic control system and a frame. The driving system mainly includes wheels, hydraulic motors and reducers. Each wheel is equipped with a variable plug-in hydraulic motor to realize four-wheel drive. The steering system is mainly composed of 4 sets of steering mechanisms and steering cylinders. One end of the steering cylinder is hinged on the vehicle frame, and the other end is connected to the steering rocker arm, which can push the wheels to rotate around the vertical axis of the steering knuckle, thereby realizing independent deflection of the four wheels. The hydraulic system is mainly composed of a walking closed circuit and a steering open circuit. The hydraulic pump is a through-shaft triple pump in series, the first two pumps supply oil to the hydr...

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Abstract

The invention discloses an electric control system of a four-wheel driving four-wheel steering automatic driving chassis, and mainly discloses the structure and working principle of the electric control system. The electronic control system uses the EPCS-8980 as an upper computer and a DSP56F805 signal controller as the core and is based on a CAN bus for communication, a driving state parameter collector receives driving parameter information collected by all sensors and sends the information to a vehicle-mounted computer and a driving controller through the CAN bus, the driving controller generates a control command based on a driving control model according to a command of the vehicle-mounted computer and parameters of the sensors, each solenoid valve independently controls four hydraulic motors and four steering oil cylinders, and driving control of the chassis is achieved. At the same time, the electronic control system is tested, and the testing result shows that the electronic control system achieves the control over a hydraulic component, ensures the operation reliability, can meet the actual operation requirement and can also be used on a general autonomous mobile platform.

Description

technical field [0001] The invention relates to an electric control system, in particular to an electric control system for a four-wheel drive four-wheel steering automatic driving chassis. Background technique [0002] At present, with the gradual expansion of the scale of farmland operations, the land area is getting larger and larger, the requirements for the quality of agricultural machinery operations are getting higher and higher, and the driver's operation is becoming more and more difficult. There is an urgent need for a high-ground clearance automatic driving chassis. The use of automatic driving technology can ensure the precise operation of plant protection machinery, reduce manual technical requirements, and lay the foundation for the development of precision agriculture. [0003] In recent years, agricultural machinery scientists and technicians have made certain efforts and explorations in the development of automatic driving technology. Zuo Zhiyu et al. (2010...

Claims

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Application Information

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IPC IPC(8): B60K17/34B60K17/356B62D5/06
CPCB60K17/358B60K17/356B62D5/06
Inventor 许亚夫
Owner 许亚夫
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