Full-vector ball wheel chassis system based on magnetic field vector control technology

Abstract

The invention discloses a full-vector spherical wheel chassis system based on a magnetic field vector control technology, which comprises an aluminum alloy chassis and four spherical tires, and each spherical tire is equipped with a set of electromagnetic driving device. The spherical tires and the electromagnetic driving devices corresponding to the spherical tires are symmetrically arranged with the forward direction of the vehicle at angles of 45 degrees (two in the front of the vehicle) and at angles of 135 degrees (two in the rear of the vehicle) respectively. The electromagnetic driving device is used for generating a control electromagnetic field to drive the spherical tires to run, so that omni-directional running of the vehicle is realized. The electromagnetic driving device is provided with four groups of full-vector magnetic field control coils and four groups of support suspensions, and the spherical tire is made of butyl rubber and is internally provided with a permanent magnet. The full-vector driving device is good in using effect, various actions can be achieved through full-vector running of the four spherical tires, and the maneuverability and the using effect of a vehicle body are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of special vehicle chassis, in particular to a spherical tire chassis system. Background Art

[0002] Chassis structure design refers to optimizing the layout and structure of the chassis to give the car good handling, stability and safety. Chassis material selection involves the selection of appropriate materials to achieve the goal of lightweight and increased strength of the chassis. The suspension system is responsible for supporting and damping the car, providing comfort and stability. The steering system controls the steering operation of the vehicle to ensure that the driver can accurately control the car. The braking system is used for the braking operation of the car to ensure safe and reliable braking effect. The transmission system is responsible for transmitting the power of the engine to the drive wheels, including the clutch, transmission and drive shaft. The spherical tire chassis system is an innovative technology for off-road vehicles, and its design is inspired by aerospace technology. This system connects the tire and chassis with a spherical structure, allowing the vehicle to remain stable on complex terrain and have higher traffic capacity and handling performance. The system can rotate and tilt flexibly and freely to adapt to different road conditions and curve driving requirements. This technology performs well in special environments such as deserts, snow or rugged mountains, providing vehicles with better anti-roll and anti-roll functions. The full-vector spherical wheel chassis is a chassis system that uses magnetic field vector control technology to achieve high maneuverability and flexible centripetal force. It consists of multiple spherical wheels, each with a separate magnetic field control device. By controlling the magnetic field on each wheel, the chassis can be moved in the horizontal and vertical directions, and can be freely translated and rotated. This chassis can achieve fast, precise, multi-directional movement and is suitable for a variety of applications. Summary of the invention

[0003] In order to solve the problems of the traditional chassis structure, the present invention proposes a spherical tire chassis system, which uses spherical tires and is driven by high-power AC coils. During this period, the Hall element reading can be read in real time for cascade PID control. Compared with Ackerman steering, spherical tire steering is more flexible, requires high control accuracy, and can achieve various vehicle actions. The present invention is realized by the following technical solutions: A full vector spherical wheel chassis system based on magnetic field vector control technology, the system is mounted on various special vehicles, and the system replaces the traditional Ackerman steering control, including: a spherical tire chassis, a magnetic field generation and control device, and a spherical tire.

[0004] The spherical tire bottom is made of rubber by secondary injection using a mold, and a pattern is left on the surface. After primary injection using the mold, a circular permanent magnet is placed in a direction 45 degrees to the tire, and secondary injection is performed after placement to complete the tire manufacturing.

[0005] The magnetic field generating and controlling device is composed of a high-power coil, a single-chip control system, a Hall sensor assembly and a power supply system. Through a vector algorithm, the tire motion vector in a two-dimensional plane coordinate system is decomposed into component vectors along the specified X and Y axes, and the motion of the ball wheel is controlled by controlling the size and direction of the X and Y axis component vectors.

[0006] The Hall sensor generates a continuously changing voltage or current signal as output by measuring the change of magnetic field. This signal is usually expressed in the form of voltage or current, and its value changes continuously with the change of magnetic field strength;

[0007] The single-chip control system uses STM32F103VET6 as the main control, receives signals from the control system, and calculates the motion components of the magnetic field. At the same time, it uses the on-chip ADC sampling to obtain the analog voltage information of the Hall sensor in real time to perform closed-loop control of the AC power, including the voltage size and direction.

[0008] The spherical tire chassis is stamped from aluminum alloy and formed in one piece. The specific shape can be seen as four spheres bulging inward from the four corners of the aluminum alloy plate. After cutting, installation holes for the coil and the suspension are reserved. At the same time, the aluminum alloy has basically no effect on the magnetic field, that is, it can provide the required stability under the premise of safety.

[0009] The spherical tire chassis consists of four universal wheels, four suspensions and an aluminum alloy chassis. The universal wheels are installed on the suspensions, and the suspensions are installed on the chassis at an angle of 120 degrees and at equal distances to limit the movement of the spherical tire and to provide shock absorption. At the same time, the aluminum alloy chassis leaves space for installing the coil. DETAILED DESCRIPTION

[0010] When the vehicle is started, the system automatically initializes and self-checks, and displays parameter information on the display screen;

[0011] The single-chip processing system receives the control system signal and calculates the magnetic field motion component;

[0012] The calculated component size is fed back to the AC coil to control the AC voltage, current and voltage;

[0013] The single-chip microcomputer system reads the Hall element readings in real time and performs cascade PID control based on the values;

[0014] The AC coil generates a magnetic field to control the movement of the spherical tire;

[0015] The beneficial effects of the present invention are:

[0016] A full vector ball wheel chassis system based on magnetic field vector control technology is used to replace the Ackerman vehicle motion model. By controlling the magnetic field on each wheel, the chassis can move in the horizontal and vertical directions, and can translate and rotate freely. This chassis can achieve fast, precise, and multi-directional movement and is suitable for various application fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is the working process of the ball wheel chassis system of the present invention; DETAILED DESCRIPTION

[0018] The technical solution of the present invention is further described below, but the scope of protection claimed is not limited to the description.

[0019] Embodiment 1:

[0020] like Figure 1 As shown, the present invention is a full vector spherical wheel chassis system based on magnetic field vector control technology. The system is mounted on various special vehicles and uses magnetic field vector control technology to control spherical tires, including: spherical tire chassis, magnetic field generation and control device, spherical tire; the system can replace the Ackerman vehicle motion model, and by controlling the magnetic field on each wheel, the chassis can be moved in the horizontal and vertical directions, and can be freely translated and rotated. This chassis can achieve fast, precise, and multi-directional movement, and is suitable for various application fields.

[0021] The working principle is that the control system sends movement instructions to the single-chip microcomputer processing system. The single-chip microcomputer system performs magnetic field component motion decomposition and magnetic field control, controls the direction and size of the magnetic field generated by the high-power coil, and the magnetic field drives the spherical tire to operate. At the same time, Hall elements are used to sense the magnetic field and perform cascade PID control.

Claims

1. A full vector spherical wheel chassis system based on magnetic field vector control technology, which is applied to various vehicle chassis. The system uses magnetic field vector control technology to control spherical tires. The system allows the vehicle to control the magnetic field of the coil under the control of the magnetic field vector control computer after receiving the instruction, and the spherical tire is controlled according to the instruction to run in different directions at various angles. Its characteristics include: Spherical tire chassis, magnetic field generation and control device, spherical tire.

2. The full vector spherical wheel chassis system based on magnetic field vector control technology according to claim 1 is characterized in that: The spherical wheel tire is composed of a permanent magnet and rubber. The permanent magnet is placed at a 45-degree angle to the spherical surface. The entire tire is infused with rubber and formed in one piece. There are lines on the surface to increase ground friction and adapt to different road conditions. The magnetic field control system is composed of a high-power coil, a power supply system, a single-chip control system and a Hall element. The generation and control of the magnetic field are achieved through programming through the frequency, power and direction of the alternating current of the coil. The Hall element is used for real-time magnetic field detection, and a cascade PID is used for closed-loop control. At the same time, the power supply system provides the required power for the coil. The spherical tire chassis is composed of four universal wheels, four suspensions and an aluminum alloy chassis. The universal wheels are installed on the suspension, and the suspension is installed on the chassis at an angle of 120 degrees to limit the movement of the spherical tire and to prevent shock. At the same time, the aluminum alloy chassis leaves space for installing the coil.

3. The full vector spherical wheel chassis system based on magnetic field vector control technology according to claim 1 is characterized in that: The spherical tire chassis is stamped from aluminum alloy and is formed in an integrated manner. The specific shape can be seen as four spheres bulging inward from the four corners of the aluminum alloy plate. After cutting, installation holes for the coil and suspension are left. At the same time, aluminum alloy has basically no effect on the magnetic field, that is, it can provide the required stability under the premise of safety.

4. The full vector spherical wheel chassis system based on magnetic field vector control technology according to claim 1 is characterized in that: The magnetic field generating and controlling device is composed of a high-power coil, a single-chip control system, a Hall sensor assembly and a power supply system. Through a vector algorithm, the tire motion vector in a two-dimensional plane coordinate system is decomposed into component vectors along the specified X and Y axes. The movement of the ball wheel is controlled by controlling the size and direction of the X and Y axis component vectors.

5. The full vector spherical wheel chassis system based on magnetic field vector control technology according to claim 1 is characterized in that: The spherical tire is made of rubber by secondary injection using a mold, and has a pattern on the surface, which can increase the contact area between the tire and the road surface. Through the design of drainage ditches and channels, moisture, mud, etc. between the tire and the slippery road surface are removed, thereby improving the vehicle's grip on rainy days or muddy roads. First, after a primary injection using a mold, a circular permanent magnet is placed in a direction 45 degrees to the tire, and after placement, a secondary injection is performed to complete the tire production.

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