Four-wheel independent driving wheel carrier posture-adjustable vehicle comprehensive driving system

Abstract

The invention discloses a four-wheel independent driving wheel carrier posture-adjustable vehicle comprehensive driving system. The posture-adjustable vehicle comprehensive driving system comprises four wheel carriers, a control unit,four wheel carrier driving mechanisms, four groups of wheel units and four groups of walking driving units; the control unit comprises a vehicle control unit, and a wheel carrier comprehensive controller and a walking electric drive controller which are connected with the vehicle control unit; the four wheel carrier driving mechanisms are connected with the wheel carrier comprehensive controller, and each wheel carrier driving mechanism is connected with the corresponding wheel carrier to control the pose of the corresponding wheel carrier; each group of wheel unit comprises at least two wheels, all the wheels are arranged on the same side of the corresponding wheel carriers, and the pose of each wheel is controlled by the corresponding wheel carrier; and the four groups of walking driving units are connected with the walking electric driving controller, each group of walking driving unit is connected with the corresponding wheel unit, and the running state of each wheel in the corresponding wheel unit is controlled to be a walking state, a steering state or a stopping state. According to the invention, posture adjustability and power output integration can be realized, so that the operation requirements of all ground and high trafficability can be met.

Description

technical field [0001] The invention belongs to the field of electric drive and electric vehicles, and in particular relates to a comprehensive drive system for a four-wheel independently driven wheel frame with adjustable attitude vehicle. Background technique [0002] Multi-wheel independently driven vehicles have the characteristics of maneuverability, flexibility, quick response, high reliability, and easy realization of complex driving force control. Each wheel of a multi-wheel independent drive electric vehicle is equipped with a drive motor. In the case of one or several drive motors being damaged, the vehicle can still run normally under a reasonable control strategy. The damaged drive motor can be replaced at a convenient time to improve It ensures the redundancy and reliability of the drive system. The multi-wheel independent drive is suitable for the passability requirements on complex ground, and adding the vehicle's attitude adjustment function can further impr...

AI Technical Summary

Problems solved by technology

[0004] (1) The multi-wheel independent drive vehicle uses the suspension system of the whole vehicle to adjust the posture, and the adjustment range is limited

[0005] (2) The power output control of walking and attitude adjustment needs to be switched by using a clutch and other machinery, which cannot achieve independent control, and the flexibility and controllability are poor; and the power output is single. In order to meet the requirements of certain high-throughput working conditions, walking and Power coordination for attitude adjustment is difficult to achieve

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