A comprehensive drive system for a four-wheel independently driven wheel frame with adjustable attitude vehicle

Abstract

The invention discloses a comprehensive drive system for a four-wheel independently driven wheel frame with adjustable attitude vehicle, which comprises four wheel frames; a control unit including a vehicle controller, and a wheel frame integrated controller connected with the vehicle controller and walking electric drive controller; four wheel frame driving mechanisms are connected with the wheel frame integrated controller, and each wheel frame driving mechanism is connected with the corresponding wheel frame to control the pose of the corresponding wheel frame; four groups of wheel units, Each group of wheel units includes at least 2 wheels, each wheel is set on the same side of the corresponding wheel frame, and the pose is controlled by the corresponding wheel frame; four groups of walking drive units are connected with the walking electric drive controller, and each group of walking drives The units are respectively connected with the corresponding wheel units, and the running state of each wheel in the corresponding wheel unit is controlled to be a walking state, a turning state or a stopping state. The invention can realize the combination of adjustable attitude and power output, so as to realize the operation requirements of all-terrain and high passability.

Description

technical field [0001] The invention belongs to the fields of electric drives and electric vehicles, and in particular relates to a comprehensive drive system for a vehicle with an attitude-adjustable four-wheel independent drive wheel frame. Background technique [0002] Multi-wheel independent drive vehicles have the characteristics of maneuverability, flexibility, rapid 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. When one or several drive motors are damaged, the vehicle can still drive normally under a reasonable control strategy. The damaged drive motor can be replaced at a convenient time to improve the The redundancy and reliability of the drive system work. The multi-wheel independent drive is suitable for the passing requirements of complex ground, and the addition of the attitude adjustment function of the vehicle can further improve...

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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