Self-propelled mower and self-propelled control method for self-propelled mower

Abstract

The application provides a self-propelled mower and a self-propelled control method of the self-propelled mower. The self-propelled mower comprises a machine body, a walking wheel assembly and a control assembly. The walking wheel assembly comprises a first walking wheel, a second walking wheel, a first wheel hub motor and a second wheel hub motor. The first wheel hub motor is used for controlling the rotating speed of the first walking wheel, and the second wheel hub motor is used for controlling the rotating speed of the second walking wheel. The control assembly comprises a first wheel hub controller and a second wheel hub controller. The first wheel hub controller is configured to send a control instruction to the first wheel hub motor and the second wheel hub controller, so that the first wheel hub motor controls the first walking wheel to walk at a speed setting value in the control instruction. The second wheel hub controller is configured to receive the control instruction sent by the first wheel hub controller and transmit the control instruction to the second wheel hub motor, so that the second wheel hub motor controls the second walking wheel to also walk at the speed setting value in the control instruction, thereby enabling the self-propelled mower to walk in a straight line.

Description

Technical Field

[0001] This invention relates to a self-propelled lawnmower and a self-propelled control method for the self-propelled lawnmower, belonging to the field of garden tool technology. Background Technology

[0002] Currently, most small lawnmowers on the market use a single motor with a gearbox and linkage mechanism to achieve dual-wheel drive. While this design allows the small lawnmower to move on its own, the centrifugal structure makes it difficult to pull back, resulting in less than ideal self-propelled performance.

[0003] In view of this, it is indeed necessary to improve the self-propelled control of existing lawnmowers to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a self-propelled lawnmower and a self-propelled control method for the self-propelled lawnmower, so as to solve the problem of difficulty in pulling back caused by the centrifugal structure in the prior art.

[0005] To achieve the above objectives, the present invention provides a self-propelled lawnmower, comprising:

[0006] Organism;

[0007] A walking wheel assembly, disposed below the machine body, is used to support the machine body and drive it to move on the ground. The walking wheel assembly includes a first walking wheel, a second walking wheel, a first hub motor, and a second hub motor. The first hub motor is connected to the first walking wheel and controls its rotational speed. The second hub motor is connected to the second walking wheel and controls its rotational speed.

[0008] The control component includes a first wheel hub controller and a second wheel hub controller. The first wheel hub controller and the second wheel hub controller are communicatively connected to each other. The first wheel hub controller is configured to send control commands to the first wheel hub motor and the second wheel hub controller, so that the first wheel hub motor controls the first traveling wheel to travel according to the speed set value in the control command. The second wheel hub controller is configured to receive the control commands sent by the first wheel hub controller and transmit them to the second wheel hub motor, so that the second wheel hub motor controls the second traveling wheel to travel according to the speed set value in the control command.

[0009] As a further improvement of the present invention, the second wheel hub controller is also configured to receive the real-time walking speed of the second walking wheel collected by the second wheel hub motor and transmit it to the first wheel hub controller.

[0010] As a further improvement of the present invention, the first hub controller is further configured to receive the real-time walking speed of the first walking wheel collected by the first hub motor, and compare the real-time walking speed of the first walking wheel with the real-time walking speed of the second walking wheel, so as to adjust the walking speed of the first walking wheel and the second walking wheel in real time, so that the walking speed of the first walking wheel is the same as that of the second walking wheel, and the self-propelled lawnmower maintains straight-line walking.

[0011] As a further improvement of the present invention, when there is a speed difference between the real-time walking speed of the first walking wheel and the real-time walking speed of the second walking wheel and the speed difference is greater than a preset speed difference threshold, the hub controller with the higher walking speed controls the corresponding hub motor to reduce its speed, while the hub controller with the lower walking speed controls the corresponding hub motor to run according to the speed setting value.

[0012] As a further improvement of the present invention, the preset speed difference threshold is 5 RPM.

[0013] As a further improvement of the present invention, the first traveling wheel is a driving wheel and the second traveling wheel is a driven wheel; the first hub motor is a master hub motor and the second hub motor is a slave hub motor; the first hub controller is a master hub control MCU and the second hub controller is a slave hub control MCU.

[0014] As a further improvement of the present invention, the self-propelled lawnmower also includes a power supply component, which is electrically connected to the control component and is used to supply power to the first hub controller and the second hub controller.

[0015] As a further improvement of the present invention, the self-propelled lawnmower also includes a self-propelled start switch and a self-propelled speed control structure. The self-propelled start switch and the self-propelled speed control structure are both electrically connected to the first wheel hub controller, so that after the self-propelled start switch is activated, the self-propelled speed control structure sends a speed control signal to the first wheel hub controller.

[0016] To achieve the above objectives, the present invention also provides a self-propelled control method for a self-propelled lawnmower, which mainly includes the following steps:

[0017] After the self-propelled lawnmower is powered on and started, the first hub controller sends control commands to the first hub motor and the second hub controller. The first hub motor then controls the first walking wheel to move according to the speed set value in the control command.

[0018] After receiving the control command, the second hub controller transmits the control command to the second hub motor, which then controls the second wheel to travel according to the speed set value in the control command.

[0019] The first wheel hub controller receives the real-time walking speed of the first wheel collected by the first wheel hub motor, and the second wheel hub controller receives the real-time walking speed of the second wheel collected by the second wheel hub motor and transmits it to the first wheel hub controller.

[0020] The first hub controller compares the real-time walking speed of the first walking wheel with the real-time walking speed of the second walking wheel, and adjusts the walking speed of the first and second walking wheels in real time to make the walking speed of the first walking wheel the same as that of the second walking wheel, so that the self-propelled lawnmower keeps moving in a straight line.

[0021] As a further improvement of the present invention, when the first hub motor controls the first traveling wheel to travel according to the speed set value in the control command, if the traveling speed of the first traveling wheel does not reach the speed set value, the PWM duty cycle output by the first hub controller is increased; if the traveling speed of the first traveling wheel reaches the speed set value, the current duty cycle is maintained.

[0022] As a further improvement of the present invention, when the second hub motor controls the second traveling wheel to travel according to the speed set value in the control command, if the traveling speed of the second traveling wheel does not reach the speed set value, the PWM duty cycle output by the second hub controller is increased; if the traveling speed of the second traveling wheel reaches the speed set value, the current duty cycle is maintained.

[0023] As a further improvement of the present invention, when there is a speed difference between the real-time walking speed of the first walking wheel and the real-time walking speed of the second walking wheel and the speed difference is greater than a preset speed difference threshold, the hub controller with the higher walking speed controls the corresponding hub motor to reduce its speed, while the hub controller with the lower walking speed controls the corresponding hub motor to run according to the speed setting value.

[0024] As a further improvement of the present invention, the self-propelled lawnmower also includes a self-propelled start switch and a self-propelled speed regulation structure electrically connected to the first wheel hub controller. When the self-propelled lawnmower is powered on, the self-propelled start switch is closed, and the self-propelled speed regulation structure sends a speed regulation signal to the first wheel hub controller, which calculates the corresponding speed set value.

[0025] The beneficial effects of this invention are as follows: By setting a first hub controller and a second hub controller, the self-propelled lawnmower of this invention can use the first hub controller to control the first hub motor to operate, so that the first walking wheel moves according to the set speed value. At the same time, the second hub controller can use the second hub motor to operate, so that the second walking wheel also moves according to the set speed value, thus realizing the separate drive of the two hub controllers. In addition, by setting the first hub controller to communicate with the second hub controller, data can be transmitted between the first hub controller and the second hub controller, so that the walking speed of the first walking wheel and the second walking wheel are kept consistent, thereby ensuring that the self-propelled lawnmower can always move in a straight line. Attached Figure Description

[0026] Figure 1 This is a three-dimensional schematic diagram of a self-propelled lawnmower according to a preferred embodiment of the present invention.

[0027] Figure 2 yes Figure 1 Another perspective diagram.

[0028] Figure 3 yes Figure 1 The diagram shows a partial structural block diagram of a self-propelled lawnmower.

[0029] Figure 4 This is a flowchart of the self-propelled control method for the self-propelled lawnmower of the present invention.

[0030] Figure 5 yes Figure 4 A detailed flowchart. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 1 and Figure 2 As shown, the present invention discloses a self-propelled lawnmower 100, including a body 10, a handle assembly 20, a wheel assembly, a control box 40, and a power supply box 50. The handle assembly 20 is connected to the body 10 and extends rearward from one side of the body 10 for the user to push. The wheel assembly is located below the body 10 and is used to support the body 10 and drive the body 10 to move on the ground. The control box 40 and the power supply box 50 are both located on the body 10 and are used to supply power to the self-propelled lawnmower 100 and control the self-propelled lawnmower 100 to work normally.

[0033] The handle assembly 20 is U-shaped and includes a first handle 21 and a second handle 22 extending rearward and upward from the rear of the body 10, and a third handle 23 connecting the first handle 21 and the second handle 22. The third handle 23 is located at the top of the handle assembly 20, allowing the operator to stand behind the handle assembly 20 and hold the third handle 23 to operate the machine.

[0034] In this embodiment, the first handle 21 and the second handle 22 have the same structure and are symmetrically arranged, each including a fixed end 24 connected to the body 10 and a connecting end 25 connected to the third handle 23. Preferably, the fixed end 24 and the connecting end 25 are integrally formed to save on manufacturing processes. The two fixed ends 24 are bent towards each other to form the connecting end 25. In this way, in the width direction of the body 10, the distance between the two connecting ends 25 is smaller than the distance between the two fixed ends 24, thereby reducing the space occupied by the handle assembly 20 and improving the overall structural compactness of the self-propelled lawnmower 100. Of course, in other embodiments, the fixed end 24 and the connecting end 25 can also be separately arranged and assembled, which is not limited here.

[0035] Combination Figure 3 As shown, the wheel assembly is located below the body 10 and includes a first wheel 31, a second wheel 32, a first hub motor 33, and a second hub motor 34. The first wheel 31 and the second wheel 32 are both pivotally connected to the body 10 and are located on the left and right sides of the body 10, respectively. Specifically, both the first wheel 31 and the second wheel 32 are rear wheels. The first hub motor 33 is connected to the first wheel 31 and controls its rotational speed; the second hub motor 34 is connected to the second wheel 32 and controls its rotational speed. Preferably, the first wheel 31 is the driving wheel, and the second wheel 32 is the driven wheel; the first hub motor 33 is the master hub motor, and the second hub motor 34 is the slave hub motor.

[0036] The control box 40 is equipped with a control component for controlling the walking speed of the first walking wheel 31 and the second walking wheel 32. The control component includes a first hub controller 41 and a second hub controller 42. The first hub controller 41 and the second hub controller 42 are communicatively connected to each other. The first hub controller 41 is configured to send control commands to the first hub motor 33 and the second hub controller 42, so that the first hub motor 33 controls the first walking wheel 31 to walk according to the speed set value in the control command. The second hub controller 42 is configured to receive the control command sent by the first hub controller 41 and transmit it to the second hub motor 34, so that the second hub motor 34 controls the second walking wheel 32 to walk according to the speed set value in the control command, thereby controlling the self-propelled lawnmower 100 to walk in a straight line.

[0037] Preferably, the first hub controller 41 is the master hub control MCU, and the second hub controller 42 is the slave hub control MCU, and the two communicate with each other for data transmission. The second hub controller 42 is also configured to receive the real-time walking speed of the second walking wheel 32 collected by the second hub motor 34 and transmit it to the first hub controller 41. The first hub controller 41 is also configured to receive the real-time walking speed of the first walking wheel 31 collected by the first hub motor 33, and compare the real-time walking speed of the first walking wheel 31 with the real-time walking speed of the second walking wheel 32 to adjust the walking speed of the first walking wheel 31 and the second walking wheel 32 in real time, so that the walking speed of the first walking wheel 31 is the same as that of the second walking wheel 32, thereby ensuring that the self-propelled lawnmower 100 always maintains straight-line movement.

[0038] Of course, if there is a speed difference between the real-time walking speed of the first walking wheel 31 and the real-time walking speed of the second walking wheel 32, and this speed difference is greater than a preset speed difference threshold, the hub controller with the higher walking speed will control the corresponding hub motor to reduce its speed, while the hub controller with the lower walking speed will control the corresponding hub motor to operate according to the speed set value. This ensures that the walking speeds of the first walking wheel 31 and the second walking wheel 32 are uniform and can quickly and accurately reach the set value, avoiding the self-propelled lawnmower 100 from being unable to move in a straight line due to a large speed difference during operation. Preferably, the preset speed difference threshold is 5 RPM.

[0039] The power supply box 50 is located on the side of the body 10 away from the handle assembly 20 and close to the control box 40, and is used to supply power to the self-propelled lawnmower 100. In this embodiment, the power supply box 50 and the control box 40 are set independently, and the power supply box 50 is located on the front side of the control box 40, thereby minimizing the wiring between the power supply box 50 and the control box 40, facilitating wiring, and making the structure more compact. The power supply box 50 contains a power component 51, which is electrically connected to the control component and is used to supply power to the first hub controller 41 and the second hub controller 42. Preferably, the power component 51 is a battery pack.

[0040] The self-propelled lawnmower 100 also includes a self-propelled start switch 11 and a self-propelled speed control structure 12. Both the self-propelled start switch 11 and the self-propelled speed control structure 12 are electrically connected to the first wheel hub controller 41, so that after the self-propelled start switch 11 is activated, the self-propelled speed control structure 12 sends a speed control signal to the first wheel hub controller 41, causing the first wheel hub controller 41 to work.

[0041] like Figure 4 and Figure 5 As shown, the present invention also provides a self-propelled control method for a self-propelled lawnmower, which mainly includes the following steps:

[0042] After the self-propelled lawnmower 100 is powered on, the self-propelled start switch 11 is closed, and the self-propelled speed regulation structure 12 sends a speed regulation signal to the first hub controller 41, which calculates the corresponding speed setting value.

[0043] The first hub controller 41 sends control commands to the first hub motor 33 and the second hub controller 42, and the first hub motor 33 controls the first walking wheel 31 to walk according to the speed set value in the control command;

[0044] After receiving the control command, the second hub controller 42 transmits the control command to the second hub motor 34, which then controls the second walking wheel 32 to walk according to the speed set value in the control command.

[0045] The first hub controller 41 receives the real-time walking speed of the first walking wheel 31 collected by the first hub motor 33, and the second hub controller 42 receives the real-time walking speed of the second walking wheel 32 collected by the second hub motor 34 and transmits it to the first hub controller 41.

[0046] The first hub controller 41 compares the real-time walking speed of the first walking wheel 31 with the real-time walking speed of the second walking wheel 32, and adjusts the walking speed of the first walking wheel 31 and the second walking wheel 32 in real time so that the walking speed of the first walking wheel 31 is the same as that of the second walking wheel 32, and the self-propelled lawnmower 100 maintains straight-line walking.

[0047] Specifically, when the first hub motor 33 controls the first traveling wheel 31 to travel according to the speed set value in the control command, if the traveling speed of the first traveling wheel 31 does not reach the speed set value, the PWM duty cycle output by the first hub controller 41 is increased; if the traveling speed of the first traveling wheel 31 reaches the speed set value, the current duty cycle is maintained. When the second hub motor 34 controls the second traveling wheel 32 to travel according to the speed set value in the control command, if the traveling speed of the second traveling wheel 32 does not reach the speed set value, the PWM duty cycle output by the second hub controller 42 is increased; if the traveling speed of the second traveling wheel 32 reaches the speed set value, the current duty cycle is maintained. If there is a speed difference between the real-time traveling speed of the first traveling wheel 31 and the real-time traveling speed of the second traveling wheel 32, and this speed difference is greater than a preset speed difference threshold, the hub controller with the higher traveling speed controls the corresponding hub motor to reduce its speed, while the hub controller with the lower traveling speed controls the corresponding hub motor to operate according to the speed set value, so that the traveling speeds of the first traveling wheel 31 and the second traveling wheel 32 are consistent.

[0048] To better understand the control methods described above, a specific example will be given below:

[0049] First, after the self-propelled lawnmower 100 is powered on, the self-propelled start switch 11 is closed, and the self-propelled speed control structure 12 (such as a potentiometer or Hall sensor) sends a speed control signal. The first hub controller 41 collects the signal and calculates the corresponding speed setting value as 1.5 m / s.

[0050] Then, the first hub controller 41 starts the first hub motor 33 to run, with a target speed of 1.5 m / s and a hub diameter of 10.5 inches. The corresponding speed of the first hub motor 33 is 1.5 * 60 / (10.5 * 2.54 * 3.14) ≈ 107 RPM. If the first hub motor 33 reaches the set speed, it maintains the current duty cycle. If it does not reach the set speed, it continuously increases the duty cycle until the speed set value is reached. If the load increases and the speed decreases during the process, the duty cycle output is immediately increased. Similarly, if the load decreases and the speed increases, the duty cycle is immediately decreased to adjust the speed to the speed set value in real time.

[0051] Meanwhile, the first hub controller 41 also sends the speed setpoint and the operating status information of the first hub motor 33 to the second hub controller 42 via communication. After receiving the data, the second hub controller 42 immediately starts the second hub motor 34 to run at a target speed of 1.5 m / s. If the set speed is reached, the current duty cycle is maintained. If the set speed is not reached, the duty cycle is continuously increased until the speed setpoint is reached. If the load increases and the speed decreases during the process, the duty cycle output is immediately increased. Similarly, if the load decreases and the speed increases, the duty cycle is immediately decreased to adjust the speed to the speed setpoint in real time.

[0052] The second hub controller 42 simultaneously feeds back the real-time operating status information of the second hub motor 34 to the first hub controller 41. Based on the feedback information, the first hub controller 41 quickly calculates the speed difference between the first hub motor 33 and the second hub motor 34, adjusts the parameter information in real time, and immediately sends this parameter information to the second hub controller 42, while simultaneously adjusting the operating parameters of the first hub motor 33.

[0053] When road conditions or loads change, the speed difference between the first hub motor 33 and the second hub motor 34 may become too large, causing the self-propelled lawnmower 100 to be unable to travel in a straight line. In this case, closed-loop control is required. When the speed difference exceeds the preset speed difference threshold (preferably 5 RPM), the hub controller with the higher speed controls the corresponding hub motor to reduce its speed, while the hub controller with the lower speed operates at the target speed. This ensures that the speeds of the first hub motor 33 and the second hub motor 34 can quickly and accurately reach the set value, thereby ensuring that the self-propelled lawnmower 100 can travel in a straight line.

[0054] In summary, the self-propelled lawnmower 100 of the present invention, by setting a first hub controller 41 and a second hub controller 42, allows the first hub controller 41 to control the first hub motor 33, causing the first walking wheel 31 to move according to a set speed value, while the second hub controller 42 controls the second hub motor 34, causing the second walking wheel 32 to also move according to a set speed value, thus achieving separate drive by the two hub controllers. Furthermore, by configuring the first hub controller 41 to communicate with the second hub controller 42, data transmission can be performed between the two controllers, ensuring that the walking speeds of the first and second walking wheels 31 and 32 remain consistent, thereby guaranteeing that the self-propelled lawnmower 100 can always move in a straight line.

[0055] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A self-propelled lawnmower, characterized in that, include: Organism; A walking wheel assembly is disposed below the machine body and is used to support the machine body and drive the machine body to walk on the ground. The walking wheel assembly includes a first walking wheel, a second walking wheel, a first wheel hub motor and a second wheel hub motor. The first wheel hub motor is connected to the first walking wheel and is used to control the rotation speed of the first walking wheel. The second wheel hub motor is connected to the second walking wheel and is used to control the rotation speed of the second walking wheel. as well as The control component includes a first wheel hub controller and a second wheel hub controller. The first wheel hub controller and the second wheel hub controller are communicatively connected. The first wheel hub controller is configured to send control commands to the first wheel hub motor and the second wheel hub controller, causing the first wheel hub motor to control the first traveling wheel to travel according to the speed set value in the control command. The second wheel hub controller is configured to receive the control commands sent by the first wheel hub controller and transmit them to the second wheel hub motor, causing the second wheel hub motor to control the second traveling wheel to also travel according to the speed set value in the control command. When there is a speed difference between the real-time traveling speed of the first traveling wheel and the real-time traveling speed of the second traveling wheel, and the speed difference is greater than a preset speed difference threshold, the wheel hub controller with the higher traveling speed controls the corresponding wheel hub motor to reduce its speed, while the wheel hub controller with the lower traveling speed controls the corresponding wheel hub motor to operate according to the speed set value. The first traveling wheel is the driving wheel, and the second traveling wheel is the driven wheel; the first hub motor is the master hub motor, and the second hub motor is the slave hub motor; the first hub controller is the master hub control MCU, and the second hub controller is the slave hub control MCU.

2. The self-propelled lawnmower according to claim 1, characterized in that: The second wheel hub controller is also configured to receive the real-time walking speed of the second walking wheel collected by the second wheel hub motor and transmit it to the first wheel hub controller.

3. The self-propelled lawnmower according to claim 2, characterized in that: The first hub controller is also configured to receive the real-time walking speed of the first walking wheel collected by the first hub motor, and compare the real-time walking speed of the first walking wheel with the real-time walking speed of the second walking wheel, so as to adjust the walking speed of the first walking wheel and the second walking wheel in real time, so that the walking speed of the first walking wheel is the same as that of the second walking wheel, and the self-propelled lawnmower maintains straight-line walking.

4. The self-propelled lawnmower according to claim 3, characterized in that: The preset speed difference threshold is 5 RPM.

5. The self-propelled lawnmower according to claim 1, characterized in that: The self-propelled lawnmower also includes a power supply component, which is electrically connected to the control component and is used to supply power to the first wheel hub controller and the second wheel hub controller.

6. The self-propelled lawnmower according to claim 1, characterized in that: The self-propelled lawnmower also includes a self-propelled start switch and a self-propelled speed control structure. Both the self-propelled start switch and the self-propelled speed control structure are electrically connected to the first wheel hub controller, so that after the self-propelled start switch is activated, the self-propelled speed control structure sends a speed control signal to the first wheel hub controller.

7. A self-propelled lawnmower control method, characterized in that, The main steps include: After the self-propelled lawnmower is powered on and started, the first hub controller sends control commands to the first hub motor and the second hub controller. The first hub motor then controls the first walking wheel to move according to the speed set value in the control command. After receiving the control command, the second hub controller transmits the control command to the second hub motor, which then controls the second wheel to travel according to the speed set value in the control command. The first wheel hub controller receives the real-time walking speed of the first wheel collected by the first wheel hub motor, and the second wheel hub controller receives the real-time walking speed of the second wheel collected by the second wheel hub motor and transmits it to the first wheel hub controller. The first hub controller compares the real-time walking speed of the first walking wheel with the real-time walking speed of the second walking wheel, and adjusts the walking speed of the first and second walking wheels in real time to make their walking speeds the same, so that the self-propelled lawnmower maintains straight-line movement; when there is a speed difference between the real-time walking speed of the first and second walking wheels and the speed difference is greater than a preset speed difference threshold, the hub controller with the higher walking speed controls the corresponding hub motor to reduce its speed, while the hub controller with the lower walking speed controls the corresponding hub motor to operate according to the speed set value; The first traveling wheel is the driving wheel, and the second traveling wheel is the driven wheel; the first hub motor is the master hub motor, and the second hub motor is the slave hub motor; the first hub controller is the master hub control MCU, and the second hub controller is the slave hub control MCU.

8. The self-propelled control method according to claim 7, characterized in that: When the first hub motor controls the first traveling wheel to travel according to the speed set value in the control command, if the traveling speed of the first traveling wheel does not reach the speed set value, the PWM duty cycle output by the first hub controller is increased; if the traveling speed of the first traveling wheel reaches the speed set value, the current duty cycle is maintained.

9. The self-propelled control method according to claim 7, characterized in that: When the second hub motor controls the second traveling wheel to travel according to the speed set value in the control command, if the traveling speed of the second traveling wheel does not reach the speed set value, the PWM duty cycle output by the second hub controller is increased; if the traveling speed of the second traveling wheel reaches the speed set value, the current duty cycle is maintained.

10. The self-propelled control method according to claim 7, characterized in that: The self-propelled lawnmower also includes a self-propelled start switch and a self-propelled speed control structure electrically connected to the first wheel hub controller. When the self-propelled lawnmower is powered on, the self-propelled start switch is closed, and the self-propelled speed control structure sends a speed control signal to the first wheel hub controller, which then calculates the corresponding speed setpoint.

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