A multi-mode motion control method for a heavy-duty two-stage differential multi-wheel omnidirectional vehicle

Abstract

The invention discloses a multi-mode motion control method of a heavy-load two-stage differential multi-wheel omni-directional vehicle. The multi-mode motion control method of the heavy-load two-stagedifferential multi-wheel omni-directional vehicle comprises the steps that according to the characteristics of vehicle all-wheel steering motion, multiple motion modes are designed; the multiple motion modes comprise a normal mode, a forward shifting mode, a backward shifting mode, an oblique movement mode, a circle around in situ mode, a forward swinging mode, a backward swinging mode, a reset mode, a 90-degree mode and a parking mode; a general dynamitic model based on a coordinate system is established, and a target corner of each wheel set and steady-state motor speed under different motion modes are calculated; the multiple motion modes are divided into a dynamic mode and a static state mode; and a synchronous control algorithm is adopted in the dynamic mode, it is ensured that the wheel sets synchronously reach a target angle at the same time, a quick response control algorithm is adopted in the static state mode, and it is ensured that the wheel sets quickly reach the target angle. After the wheel sets turn to the target angle, the vehicle moves at the steady-state motor speed.

Description

technical field [0001] The invention relates to the technical field of multi-wheel drive omnidirectional vehicle control, in particular to a multi-mode motion control method for a heavy-duty two-stage differential multi-wheel omnidirectional vehicle. Background technique [0002] With the promotion of electric vehicle technology, more and more site transport vehicles have begun to adopt two-stage differential omnidirectional drive. The vehicle is composed of multiple sets of steering wheel assemblies, and each steering wheel assembly is composed of two drive motors and a turntable. , the steering of the steering wheel assembly can be controlled differentially through two drive motors, so as to realize the setting of the steering center of the whole vehicle. [0003] The two-stage differential multi-wheel omnidirectional vehicle realizes the single-wheel steering through the motor differential, cancels the traditional steering mechanism, the vehicle structure is more compact,...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem that the existing control method is not flexible and cannot be applied to heavy-duty vehicles, the present invention provides a multi-mode motion control method for heavy-duty two-stage differential multi-wheel omnidirectional vehicles, which can be used according to actual application requirements. The vehicle is designed with a variety of motion modes, and an effective control method is proposed for the characteristics of different motion modes, and it has good scalability

Images