Remote control track target car

Abstract

The utility model provides a remote control track target car, which comprises a wheel type chassis, a power system, a driving system, a braking system, an electrical system, a control system, a communication system and a chassis control system, adopts a pure electric driving and integrated centralized control form, and has full-drive-by-wire capability. The chassis control system is the control core of the whole vehicle, receives control instructions of the remote control system upwards and coordinates the power battery, the driving motor, the electrical system and the like downwards, energy management control, maneuvering control and power supply and distribution control of the track target vehicle are achieved, and the track target vehicle has the advantages of being high in reliability and stable in remote control communication.

Description

Technical Field

[0001] The utility model relates to the technical field of track target vehicles, in particular to a remotely controlled track target vehicle. Background Art

[0002] A remotely controlled target vehicle is a device used for range training and actual combat exercises, which can simulate the behavior of enemy vehicles and improve the authenticity and effectiveness of training. The main technologies of the target vehicle include the following aspects:

[0003] Remote control technology: The remotely controlled target vehicle is controlled by a remote controller and requires stable remote control technology to ensure that the vehicle can accurately execute various actions and instructions.

[0004] Data communication technology: The remotely controlled target vehicle needs to conduct real-time data communication with the operator to transmit instructions and receive feedback information. Therefore, stable and reliable data communication technology is required to ensure smooth and timely communication.

[0005] For the above reasons, this design proposes a remotely controlled track target vehicle. Summary of the Invention

[0006] The purpose of the utility model is to provide a remotely controlled track target vehicle.

[0007] To achieve the above purpose, the utility model is realized through such a technical solution. A remotely controlled track target vehicle includes a wheeled chassis, a power system, a drive system, a braking system, an electrical system, a control system, a communication system, and a chassis control system. The wheeled chassis adopts a 4x2 wheeled chassis, and the power system, drive system, braking system, electrical system, control system, communication system, and chassis control system are respectively arranged on the wheeled chassis and conduct data interaction with each other through a CAN bus and a vehicle controller.

[0008] Further, the power system includes a 72V power supply system composed of 12V lead-acid batteries connected in series and parallel.

[0009] Further, the drive system includes a drive motor and a motor controller. The drive motor adopts a permanent magnet synchronous motor and is controlled by the motor controller.

[0010] Further, the braking system adopts a wire control braking system, and the wire control braking system is one of EHB, EMB, and HBBW.

[0011] Further, the electrical system includes a high-voltage system and a low-voltage system. Among them, the high-voltage system supplies power to the drive motor and DCDC through the power system, and the low-voltage system supplies power to low-voltage control and the communication system.

[0012] Further, the control system includes a control terminal and a backpack system. The control terminal provides a human-machine interaction interface for the operator to input control commands and display and output various types of information. The backpack system is integrally provided with a backpack communication device and a mobile power supply. The backpack communication device is used for the operator to communicate with the target vehicle while carrying the control terminal. The mobile power supply supplies power to the control terminal and the backpack communication device. An emergency stop button, a gear position, and a vehicle speed display screen are provided on the control terminal. The operation terminal is built-in with a radio station and sends signals to the vehicle-end radio station through the built-in radio station of the operation terminal. The vehicle-end radio station forwards the signals to the vehicle controller, and the vehicle controller sends them to the braking system in real time through signal processing. The control terminal feeds back and displays the vehicle speed through information interaction with the communication system.

[0013] Further, the communication system uses an E90-DTU digital radio station.

[0014] Further, the control system uses an ECUBlazer platform.

[0015] The beneficial effects of the above solution are as follows:

[0016] The utility model has the advantages of high reliability and stable remote control communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall architecture of the utility model;

[0018] Figure 2 is a schematic diagram of the structure of the chassis control system of the utility model;

[0019] Figure 3 is a schematic diagram of the software architecture of the chassis control of the utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The following further clearly and completely describes the present utility model in conjunction with the accompanying drawings of the specification, but the protection scope of the present utility model is not limited thereto. Embodiment

[0021] As Figures 1 to 3 shown, a remotely controlled rail target vehicle includes a wheeled chassis, a power system, a drive system, a braking system, an electrical system, a control system, a communication system, and a chassis control system. The wheeled chassis uses a 4x2 wheeled chassis. The power system, drive system, braking system, electrical system, control system, communication system, and chassis control system are respectively arranged on the wheeled chassis and perform data interaction with each other through the CAN bus and the vehicle controller.

[0022] In this embodiment, the power system includes a 72V power supply system composed of 12V lead-acid batteries connected in series and parallel.

[0023] In this embodiment, the drive system includes a drive motor and a motor controller. The drive motor is a permanent magnet synchronous motor and is controlled by the motor controller.

[0024] In this embodiment, the braking system adopts a wire-controlled braking system, and the wire-controlled braking system is one of EHB, EMB, and HBBW.

[0025] In this embodiment, the electrical system includes a high-voltage system and a low-voltage system. The high-voltage system supplies power to the drive motor and DCDC through the power system, and the low-voltage system supplies power to low-voltage control and the communication system.

[0026] In this embodiment, the control system includes a control terminal and a backpack system. The control terminal provides a human-machine interaction interface for the operator to realize the input of control commands and the display and output of various information. The backpack system is integrally provided with a backpack communication device and a mobile power supply. The backpack communication device is used for the operator to carry the control terminal to communicate with the target vehicle. The mobile power supply supplies power to the control terminal and the backpack communication device. An emergency stop button, a gear position, and a vehicle speed display screen are provided on the control terminal. The operation terminal is built-in with a radio station and sends signals to the vehicle-end radio station through the built-in radio station of the operation terminal. The vehicle-end radio station forwards the signals to the vehicle controller, and the vehicle controller sends them to the braking system in real time through signal processing. The control terminal feeds back and displays the vehicle speed through information interaction with the communication system.

[0027] In this embodiment, the communication system adopts an E90-DTU digital radio station.

[0028] In this embodiment, the control system adopts an ECU Blazer platform.

[0029] The specific functions of the above control system include:

[0030] (1) Driving function

[0031] 1) Analog input acquisition: Dual-Queue AD acquisition, supporting up to 45 AD channels at most, such as low-voltage battery voltage acquisition, accelerator pedal acquisition, steering wheel signal acquisition, etc.;

[0032] 2) Digital input acquisition: 29 channels, such as ignition switch, air-conditioning compressor switch acquisition, etc.;

[0033] 3) Digital output: 38 channels;

[0034] 4) Low-side drive;

[0035] (2) Communication function

[0036] 1) CAN communication;

[0037] 1) Two-way CAN communication interface;

[0038] 2) Support for standard frames and extended frames;

[0039] 3) Support for ID configuration.

[0040] (3) Diagnostic function

[0041] 1) Support for electrical fault diagnosis of ECU hardware;

[0042] 2) Send diagnostic information of the analog clock acquisition chip;

[0043] 3) Include open circuit, short circuit to ground, and short circuit to power supply diagnosis (such as electrical diagnosis of the main relay).

[0044] (4) Control algorithm interface and calibration

[0045] 1) Control algorithm interface

[0046] a. Provide an interactive time-triggered and crankshaft phase-triggered algorithm call mechanism;

[0047] b. The size and computational complexity of the algorithm do not affect the real-time performance of sensor acquisition and actuator control.

[0048] 2) Calibration and monitoring system

[0049] a. The lower computer CCP Driver and CAN Driver of the calibration system based on the CCP protocol, support calibration software based on the CCP protocol;

[0050] b. KWP2000 Driver based on the KWP2000 protocol.

[0051] The above target vehicle is controlled by the system control software. The chassis control system is the core of the vehicle integrated control system. It is responsible for parsing the instructions of the remote control system, and at the same time, according to the energy management of the power battery pack, and coordinating the control of components such as the motor driver, brake controller, electrical control box, and DC / DC, so as to meet the various operating conditions requirements of the vehicle, and achieve the overall optimal comprehensive performance under the existing constraints of the system and components.

[0052] The overall solution of the chassis control system is as Figure 2 shown. The vehicle adopts a distributed hierarchical control architecture. The upper layer is coordinated by the chassis control system according to the control instructions of the remote control system, and coordinates subsystems such as the high-voltage battery BMS, motor driver, brake controller, electrical control box, and DCDC, and monitors the working status of each part; the lower layer is completed by each subsystem through its own controller to complete its own functions.

[0053] (2)System software function design

[0054] Based on the general MATLAB / Simulink platform, design the software architecture of the chassis control system, as Figure 3 shown. Since the chassis control system involves a large number of controlled components, the control strategies it contains are relatively complex. The above figure lists the basic architecture of the control software model, and its main functions include: input interface module, core control module, output interface module, etc.

[0055] (3)Vehicle speed control

[0056] The chassis control system receives the target vehicle speed command sent by the remote control system, and controls the drive motor after a series of kinematic and dynamic calculations, so that the whole vehicle responds to the target vehicle speed.

[0057] Usually, the driver only issues a fixed-point target vehicle speed or manually changes it during vehicle driving. At this time, the vehicle speed is relatively stable.

[0058] Add a new speed control mode. The driver can choose to control the chassis in the form of sine signal, triangular wave signal, etc., so as to realize the variable speed control of the target vehicle.

[0059] (4)Vehicle emergency stop control

[0060] The track welding calibration metal strip is detected by the inductive proximity switch and uploaded to the VCU after being in place, and the VCU controls the vehicle to stop.

[0061] (5)Vehicle gear control

[0062] The VCU collects the vehicle speed of the whole vehicle. When the driver switches between forward and reverse, it is ensured that the feedback speed is zero before switching to prevent damage to the motor caused by human triggering.

[0063] (6)Precise position closed-loop

[0064] Using a positioning sensor, after the chassis collects information, it can accurately feedback the chassis position. It can also park accurately according to the position, providing redundant backup with the emergency stop parking to improve the safety of the vehicle.

[0065] The embodiments disclosed in this utility model are preferred embodiments, but not limited thereto. Those of ordinary skill in the art can easily understand the spirit of this utility model according to the above embodiments and make different extensions and changes. However, as long as they do not depart from the spirit of this utility model, they are within the protection scope of this utility model.

Claims

1. A remote-controlled rail target vehicle, characterized in that: It includes a wheeled chassis, a power system, a drive system, a braking system, an electrical system, a control system, a communication system and a chassis control system. The wheeled chassis adopts a 4x2 wheeled chassis. The power system, the drive system, the braking system, the electrical system, the control system, the communication system and the chassis control system are respectively arranged on the wheeled chassis and data are exchanged with each other through a CAN bus and a vehicle controller.

2. A remote-controlled rail target vehicle according to claim 1, characterized in that: The power system includes a 72V power supply system composed of 12V lead-acid batteries connected in series and parallel.

3. A remote-controlled rail target vehicle according to claim 1, characterized in that: The drive system includes a drive motor and a motor controller. The drive motor is a permanent magnet synchronous motor, and the drive motor is controlled by the motor controller.

4. A remote-controlled rail target vehicle according to claim 1, characterized in that: The braking system adopts a wire control brake system, and the wire control brake system is one of EHB, EMB, and HBBW.

5. A remote-controlled rail target vehicle according to claim 3, characterized in that: The electrical system includes a high-voltage system and a low-voltage system, wherein the high-voltage system supplies power to the drive motor and DCDC through the power system, and the low-voltage system supplies power to the low-voltage control and the communication system.

6. A remote-controlled rail target vehicle according to claim 1, characterized in that: The control system includes a control terminal and a backpack system. The control terminal provides a human-computer interaction interface for the operator to realize the input of control instructions and the display output of various types of information. The backpack system is integrated with a backpack communication device and a mobile power supply. The backpack communication device is used for the operator to carry the control terminal to communicate with the target vehicle. The mobile power supply supplies power to the control terminal and the backpack communication device. The control terminal is provided with an emergency stop, gear position and vehicle speed display screen. The control terminal has a built-in radio and sends signals to the vehicle-side radio through the built-in radio of the control terminal. The vehicle-side radio forwards the signal to the vehicle controller. The vehicle controller sends the signal to the braking system in real time through signal processing. The control terminal displays the vehicle speed through information interaction and feedback with the communication system.

7. A remote-controlled rail target vehicle according to claim 1, characterized in that: The communication system adopts E90-DTU digital radio.

8. A remote-controlled rail target vehicle according to claim 1, characterized in that: The control system adopts the ECUBlazer platform.

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