Unlock instant, AI-driven research and patent intelligence for your innovation.

Active body attitude control method for all-terrain vehicle based on coaxial wheel-leg structure

A coaxial, all-terrain technology, applied in attitude control, non-electric variable control, vehicle position/route/height control, etc., can solve problems such as difficulty in improving vehicle comfort and maneuverability

Inactive Publication Date: 2021-05-28
JILIN UNIV
View PDF5 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, the object of the present invention is to overcome the problem that the passive body posture adjustment method in the prior art is difficult to improve the comfort and maneuverability of the vehicle, and provides an active posture control method

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Active body attitude control method for all-terrain vehicle based on coaxial wheel-leg structure
  • Active body attitude control method for all-terrain vehicle based on coaxial wheel-leg structure
  • Active body attitude control method for all-terrain vehicle based on coaxial wheel-leg structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0054] Below in conjunction with accompanying drawing, the present invention will be further described:

[0055] Since the all-terrain platform with wheel-leg hybrid structure has a higher center of gravity than ordinary vehicles and is equipped with expensive measuring instruments, it has higher requirements for comfort, handling stability and safety.

[0056] see figure 1 As shown, an active body attitude control method of an all-terrain vehicle based on a coaxial wheel-leg structure, including: the all-terrain vehicle has four wheels, all of which adopt a coaxial wheel-leg structure, and the coaxial wheel-leg structure is respectively provided with Boom lifting motor, wheel hub motor and wheel axle pressure sensor, the body is equipped with a gyroscope for measuring vehicle state parameters, a wheel hub motor encoder, a calculation unit and an optimal angle controller;

[0057] The calculation unit obtains the pressure value F0 at the current wheel axle measured by the axl...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The present invention is an all-terrain vehicle active body attitude control method based on a coaxial wheel-leg structure, comprising: the all-terrain vehicle has four wheels, all of which adopt a coaxial wheel-leg structure; The pressure value at the axle of the wheel, if the wheel does not encounter an obstacle, continue to drive at the original speed; if the pressure value at a certain axle is greater than the threshold value, it is judged that the wheel has encountered an obstacle, and enters the attitude adjustment obstacle surmounting state, by The optimal angle controller controls the movements of the four wheels. The kinematics model of the coaxial wheel-leg mechanism calculates the position of the wheels. When the hub motor at the rotating wheel reaches the specified position, the optimal angle controller outputs control signals to control the four wheels respectively. Boom lift motor and four wheels. The present invention has a wide adjustment range of vehicle body attitude, can overcome obstacles larger than the diameter of tires, and can complete specific actions such as climbing stairs.

Description

technical field [0001] The invention relates to the field of automatic control of vehicles, in particular to an active body posture control method of an all-terrain carrying platform based on a coaxial wheel-leg structure. Background technique [0002] With the continuous improvement of my country's industrial level, technological level and people's living standards, multi-functional intelligent mobile platforms, especially all-terrain mobile carrying platforms, are gradually used in many industries, such as alien detection, forest protection, resource exploration, mining, etc. Mining, fire rescue, field disaster relief, etc. Due to the influence of terrain, environment, climate and other factors, ordinary modified vehicles have insufficient off-road ability and cannot work around the clock. Although special modified vehicles have strong off-road ability, they have serious pollution and damage to the environment. Job concepts do not match. The all-terrain platform with inte...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/028G05D1/08
CPCB62D57/028G05D1/0891
Inventor 马芳武聂家弘吴量倪利伟徐广健
Owner JILIN UNIV