Inter-axle differential control system of three-axle unmanned vehicle

Abstract

The utility model discloses an inter-axle differential control system of a three-axle unmanned vehicle. The inter-axle differential control system comprises a main control module, a rotating speed comparison module, a motor control module, a motor rotating speed monitoring module, a driving motor and a driving axle, the number of the drive axles is two or three. Each drive axle is connected with the main control module through a drive motor and a motor control module in sequence; a motor rotating speed monitoring module is arranged in each motor control module; the motor control module monitors the rotating speed of the driving motor through a motor rotating speed monitoring module and feeds back a monitoring signal to the main control module; a rotating speed comparison module is arranged in the main control module; the rotating speed comparison module is used for comparing rotating speeds of the driving motor and obtaining a rotating speed difference value; and the main control module clears torque or recovers torque output for the suspended driving motor according to the rotating speed difference value. According to the inter-axle differential control system of the three-axle unmanned vehicle, the rotating speeds of the two or more driving motors are detected, the suspended wheels are positioned according to the rotating speed difference, and the inter-axle differential control system is simple in structure and practical.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned transport vehicle drive technical field, in particular to a three axle unmanned vehicle's axle differential control system. BACKGROUND

[0002] The existing three axle multi drive vehicle, such as Figure 1 As shown, when the driving wheel is suspended, the motor speed rises rapidly due to the sudden decrease in driving wheel resistance, resulting in an increase in wheel speed. When the wheel recontacts the ground, it will quickly wear and consume the tire and cause damage to the surrounding personnel, equipment, etc. The Chinese patent application with publication number CN117719357A discloses a multi-axle distributed new energy vehicle wheel suspension anti-skid method and system, but the detection of the suspended wheel requires the combination of a suspension height sensor and a wheel speed sensor to achieve positioning. SUMMARY

[0003] To solve the above technical problems, the utility model provides a three axle unmanned vehicle's axle differential control system, including main control module, speed ratio comparison module, motor control module, motor speed monitoring module, drive motor and drive axle, wherein:

[0004] The drive axle is provided with two or three; each drive axle is connected with the main control module through a drive motor and a motor control module in sequence;

[0005] The motor control module is provided with a motor speed monitoring module; the motor control module monitors the speed of the drive motor through the motor speed monitoring module and feeds back the monitoring signal to the main control module;

[0006] The main control module is provided with a speed ratio comparison module; the speed ratio comparison module is used to compare the speed of the drive motor and obtain the speed difference value;

[0007] The main control module removes the torque or restores the torque output of the suspended drive motor according to the speed difference value.

[0008] Preferably, it further includes a high-voltage distribution box and a power battery; the power battery is connected with the drive motor through the high-voltage distribution box and the motor control module in sequence.

[0009] Preferably, the motor control module is provided with a transformer; the transformer converts the power battery into three-phase electric output and outputs to the drive motor.

[0010] The axle differential control system of the three-axle unmanned vehicle provided by the utility model realizes positioning of the floating wheel by detecting the rotating speed and rotating speed difference of two or more driving motors, without the need of a combination of a suspension height sensor and a wheel rotating speed sensor and a complex positioning method, and is simple and practical. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 is a contrast schematic diagram for normal driving of the existing three-axle vehicle and driving wheel suspension;

[0012] Figure 2 is a schematic diagram of the axle differential control system of the three-axle unmanned vehicle provided by the utility model embodiment;

[0013] Among them: 11, main control module; 111, rotating speed comparison module; 12, motor control module; 121, motor rotating speed monitoring module; 13, driving motor; 14, drive axle; 15, high-voltage distribution box; 16, power battery. DETAILED DESCRIPTION

[0014] In order to make the technical means, creative features, purposes and effects realized by the utility model easy to understand, the utility model is further described below in combination with specific embodiments, but the following embodiments are only preferred embodiments of the utility model, not all, based on the embodiments in the embodiments, other embodiments obtained by the person skilled in the art without creative labor belong to the protection scope of the utility model, and the experimental methods in the following embodiments are all conventional methods, and the materials, reagents and the like used in the following embodiments can be obtained from commercial channels if not specially specified.

[0015] In the description of the utility model, it should be pointed out that the directions or position relationships indicated by the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "another end" and the like are the directions or position relationships shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and cannot be understood as indicating or implying that the devices or elements must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the utility model. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0016] In the description of the utility model, it is necessary to explain that, unless there is definite stipulation and limitation, the terms "installation", "be equipped with", "connection" and the like should be understood broadly, for example, "connection", can be fixed connection, also can be detachable connection, or integrally connected;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through intermediate medium, can be the communication inside two elements.For the ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0017] The utility model embodiment provides a kind of interaxle differential control system of three-axis unmanned vehicle, including main control module 11, rotational speed ratio module 111, motor control module 12, motor rotational speed monitoring module 121, drive motor 13 and drive axle 14, wherein:

[0018] The drive axle 14 is equipped with two or three;Each drive axle 14 is sequentially connected with main control module 11 by a drive motor 13, a motor control module 12;

[0019] Motor rotational speed monitoring module 121 is arranged in the motor control module 12;The motor control module 12 monitors the rotational speed of drive motor 13 by motor rotational speed monitoring module 121, and feedback monitoring signal to main control module 11 module;

[0020] Rotational speed ratio module 111 is arranged in the main control module 11;Rotational speed ratio module 111 is used to compare the rotational speed of drive motor 13 and obtain rotational speed difference value;

[0021] Main control module 11 removes torque or restores torque output according to the rotational speed difference value of the drive motor 13 in suspension.

[0022] Specific implementation, as shown in Figure 2 The interaxle differential control system of three-axis unmanned vehicle, including main control module 11, rotational speed ratio module 111, motor control module 12, motor rotational speed monitoring module 121, drive motor 13 and drive axle 14, wherein:

[0023] Main control module 11 is vehicle controller (VCU);Motor control module 12 is motor control MCU module;Drive axle 14 is equipped with two or three;Each drive axle 14 is sequentially connected with main control module 11 by a drive motor 13, a motor control module 12, so that each drive motor 13 is independently arranged one motor control module 12;

[0024] The motor control module 12 is provided with a motor rotating speed monitoring module 121; the motor rotating speed monitoring module 121 includes but is not limited to an existing Hall sensor, an optical encoder, a magnetostrictive sensor, frequency measurement and the like to realize monitoring of the rotating speed of the driving motor 13; the motor control module 12 monitors the rotating speed of the driving motor 13 through the motor rotating speed monitoring module 121 and feeds back a monitoring signal to the main control module 11;

[0025] The main control module 11 is provided with a rotating speed comparison module 111; the rotating speed comparison module 111 is used for comparing the received rotating speeds of the driving motors 13 and obtaining a rotating speed difference value; the rotating speed comparison module 111 includes but is not limited to a comparator, an operational amplifier, a digital logic gate, a microcontroller (MCU) and the like to realize rotating speed comparison and difference calculation, which will not be described herein;

[0026] The main control module 11 removes the torque or restores the torque output of the suspended driving motor 13 according to the rotating speed difference value.

[0027] When the vehicle is in a normal running state, the main control module 11 controls two sets of motors to run synchronously (at the same speed) and the vehicle is driven to run;

[0028] When one of the wheels of the driving shaft is off the ground and loses the load resistance, the rotating speed of the motor is increased and is greater than the set value of the other driving motor (which can be set according to the actual situation, which will not be limited herein). When the vehicle runs through a road surface with pits, a small slope and the like and the wheel off the ground rotates at a high speed and the tire is worn, the main control module 11 monitors the motor rotating speed fed back by the motor control module 12 and removes the torque of the motor running at a high speed to reduce the rotating speed when it is judged that the differential speed between the two motors occurs. When the rotating speed difference between the two motors is reduced to a certain set range (which can be set according to the actual situation, which will not be limited herein), the torque output of the motor running at a high speed is restored and the vehicle normally runs. The system provided by the embodiment of the utility model can avoid high-speed friction between the tire and the ground, reduce the wear of the tire and improve the running safety of the vehicle. In the system, the rotating speed of two or more driving motors and the rotating speed difference are detected to realize positioning of the wheel off the ground, without the need of a combination of a suspension height sensor and a wheel rotating speed sensor and a complex positioning method, which is simple and practical.

[0029] Further, the system further includes a high-voltage distribution box 15 and a power battery 16; the power battery 16 is connected with the driving motor 13 through the high-voltage distribution box 15 and the motor control module 12 in sequence.

[0030] Further, the motor control module 12 is provided with a transformer; the transformer converts the power battery 16 into a three-phase electric output and outputs to the driving motor 13.

[0031] In the specific implementation, as shown in FIG. 1, the system includes a main control module 11, a motor control module 12 and a driving motor 13. Figure 2As shown, the inter-axle differential control system of the three-axle unmanned vehicle is further provided with a high-voltage distribution box 15 and a power battery 16; the power battery 16 is connected with the driving motor 13 through the high-voltage distribution box 15 and the motor control module 12 in sequence. In the embodiment, the power battery 16 is the power source of the vehicle, and outputs a direct-current power source, which is transmitted to the motor control module 12 through the high-voltage distribution box 15 and a high-voltage wire harness; preferably, the motor control module 12 is internally provided with an inverter, which converts the direct-current power source into an alternating-current three-phase power source, and transmits the alternating-current three-phase power source to the driving motor 13; the driving motor 13 operates under the control of the motor control module 12.

[0032] The high-voltage distribution box 15 and the inverter provide more sufficient power for the driving motor 13, so that the use requirement of the vehicle under a large load can be met.

[0033] The three-axle unmanned vehicle adopting the embodiment of the utility model is composed of two driving axles, two driving motors and one follow-up axle; the driving motors can work synchronously or individually; the control of the two driving axles and the two driving motors is as described above and will not be repeated here.

[0034] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. An inter-axle differential speed control system for a three-axis unmanned vehicle, characterized in that: Including main control module (11), rotation speed ratio comparison module (111), motor control module (12), motor rotation speed monitoring module (121), drive motor (13) and drive axle (14), wherein: The drive axle (14) is provided with two or three; each drive axle (14) is sequentially connected with the main control module (11) through a drive motor (13) and a motor control module (12); The motor control module (12) is provided with a motor rotation speed monitoring module (121); the motor control module (12) monitors the rotation speed of the drive motor (13) through the motor rotation speed monitoring module (121) and feeds back the monitoring signal to the main control module (11) module; The main control module (11) is provided with a rotation speed comparison module (111); the rotation speed comparison module (111) is used for comparing the rotation speed of the drive motor (13) and obtaining a rotation speed difference value; The main control module (11) removes the torque or restores the torque output of the suspended drive motor (13) according to the rotation speed difference value.

2. The inter-axle differential control system of a tri-axle unmanned vehicle of claim 1, wherein: It also includes a high-voltage distribution box (15) and a power battery (16); the power battery (16) is sequentially connected with the drive motor (13) through the high-voltage distribution box (15) and the motor control module (12).

3. The inter-axle differential control system of a tri-axle unmanned vehicle of claim 2, wherein: The motor control module (12) is provided with a transformer; the transformer converts the power battery (16) into three-phase electric output and outputs to the drive motor (13).

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