4313 results about "Motor controller" patented technology

The invention relates to an intelligent monitoring alarm method and system for a motor controller, and the method comprises the steps: obtaining an internal circuit signal and a body vibration signal of the motor controller, carrying out the combined noise analysis, and generating a dynamic noise baseline; performing component fault identification based on the dynamic noise baseline and the internal circuit signal to obtain a fault precursor current feature; performing component impact response separation based on the dynamic noise baseline and the body vibration signal to obtain hidden fault vibration characteristics; performing component association mapping on the fault precursor current feature and the hidden fault vibration feature to obtain an internal fault component identifier; and performing alarm analysis based on the fault component identifier, the fault precursor current feature and the hidden fault vibration feature to obtain a graded alarm decision. According to the invention, early fault features can be captured more sensitively, and false alarms and missing alarms are reduced.

The invention provides a test method and device for a motor active short-circuit relay, and a storage medium. The method includes the steps: performing the zero speed detection of a motor after a motor controller completes a low-voltage power-on operation, wherein when the motor controller is powered down, a first relay and a second relay are both switched on; controlling the second relay to be turned on if the motor passes the zero speed detection, and injecting a first excitation signal at the control ends of a first phase winding and a third phase winding through the motor controller; performing injection detection of the first excitation signal to determine whether the first excitation signal is successfully injected or not; controlling the first relay to be turned on if the first excitation signal is successfully injected, and obtaining a voltage across two ends of the first relay; and judging whether the power-on test of the first relay is successful or not according to the voltage across two ends of the first relay. The method can realize the turn-on test of the short-circuit relay, and ensures the reliability of the active short-circuit function of the vehicle motor duringdriving.

The invention relates to the technical field of data processing, and discloses a temperature monitoring method and system for a motor controller. The method comprises the steps of obtaining a three-dimensional temperature data flow in real time through a temperature sensor array, performing temperature analysis and hot spot detection, constructing an adaptive protection strategy, dynamically adjusting PWM parameters, and optimizing the operation safety and performance of a motor. According to the invention, the technical problems that the coverage of temperature monitoring points is not comprehensive, and the protection strategy lacks pertinence and adaptability are solved, through multi-point temperature collection and intelligent analysis processing, the accuracy of temperature monitoring of the motor controller and the flexibility of the protection strategy are improved, and it is ensured that the motor is safe and reliable and keeps the optimal performance under different working conditions.

The invention relates to an electric scooter remote monitoring method, device and equipment based on the Internet of Things and a storage medium, and the method comprises the following steps: if a scooter state feature vector represents that an electric scooter is abnormal, carrying out the multi-modal feature mapping of the electric scooter based on the scooter state feature vector, and carrying out the remote monitoring of the electric scooter based on the multi-modal feature mapping; vehicle abnormal behavior mode characteristics are obtained; performing risk prediction on the electric scooter based on the vehicle abnormal behavior mode characteristics to obtain a risk grade division result; performing distributed processing and priority ranking on the risk grade division result through an edge computing gateway to obtain a control strategy instruction set; the control strategy instruction set is input into the remote motor controller to control the electric scooter, and the technical problems that a traditional management mode mainly depends on manual inspection and regular maintenance, the efficiency is low, the state of the scooter is difficult to monitor in real time, and potential safety hazards are difficult to find in time are solved.

A motor controller for pulse heating of a power battery. The motor controller includes an inverter circuit, the inverter circuit includes three switching transistor bridge arms, two ends of each switching transistor bridge arm are respectively configured to connect to positive and negative electrodes of the power battery through a direct current bus, and bridge arm midpoints of the three switching transistor bridge arms are separately configured to connect to a three-phase winding of a motor. The bridge arm midpoints of the three switching transistor bridge arms are configured to output a three-phase current, the three-phase current is used to generate a pulse alternating current on the direct current bus, and the pulse alternating current is used to heat the power battery. A current of each phase of the three-phase current is a unipolar triangular wave, and a sum of the three-phase current is zero.

The invention provides a water-cooling heat dissipation vehicle-mounted device and an electric vehicle. A shell of the vehicle-mounted device comprises an integrated shell, and the integrated shell comprises an electrical containing groove and an internal water inlet channel. Wherein the electrical containing groove is used for containing the integrated support and the first circuit board, the first circuit board is used for bearing at least one electrical assembly in the vehicle-mounted charger or the motor controller, and the integrated support is arranged between the first circuit board and the groove bottom of the electrical containing groove. The integrated support comprises a support water channel inlet and at least one radiator water channel connector, the support water channel inlet is used for receiving cooling water output by the outlet of the internal water inlet channel, and each radiator water channel connector is used for conveying cooling liquid to at least one of a water cooling radiator of the vehicle-mounted charger or a water cooling radiator of the motor controller. The water cooling radiator of the vehicle-mounted charger and the water cooling radiator of the motor controller are communicated with the internal water inlet channel of the integrated shell through the integrated support, so that the vehicle-mounted device is small in size under the condition that the cooling efficiency of the vehicle-mounted device is improved.

The invention provides an electric engine, a control method, a related device, a motor controller and an aircraft, and relates to the technical field of aircrafts. The electric engine comprises a power motor, a heat dissipation system and a control module, a cavity is formed in the power motor, the control module is integrated in the cavity, the space occupied by the electric engine is reduced, and therefore the size of the aircraft is reduced; the control module comprises a plurality of integrated driving modules, part of the driving modules are electrically connected with the power motor so as to control the power motor, and part of the driving modules are electrically connected with a heat dissipation motor in the heat dissipation system so as to control the heat dissipation motor. The performance and efficiency of the electric engine are improved through unified integrated control over the power motor and the heat dissipation motor. And through a unified control architecture, the system design is simplified, the development and maintenance cost is reduced, and the maintainability of the electric engine is improved.

The invention relates to the technical field of automobile material temperature simulation analysis, in particular to an automobile cabin temperature field simulation analysis method and system based on multi-physics field coupling. According to the method, high-precision and high-efficiency simulation is realized through thermal-solid-fluid-electric coupling modeling in combination with the genetic algorithm, the neural network and reinforcement learning AI dynamic optimization, and the problems that the multi-physical field coupling effect cannot be comprehensively reflected and the parameter optimization efficiency is low in the prior art are solved. Time sequence analysis and dynamic boundary condition adjustment are introduced, transient working condition simulation is supported, and temperature field changes in actual driving can be better predicted. Through simultaneous solution of the Maxwell equation and the heat conduction equation, the temperature rise risk of the electronic component is accurately predicted, and the method is suitable for heat management optimization of key components such as a battery pack and a motor controller of a new energy automobile. Cloud high-performance calculation and edge end lightweight model cooperation are adopted, efficient simulation and real-time early warning are achieved, and rapid analysis and design optimization of extreme working conditions are supported.

The invention discloses a hybrid crawler tractor for hills and mountains and a control method. The hybrid crawler tractor comprises a power system, a transmission system, an energy storage system, a driving system and a control system, the power system comprises an engine, a generator and a clutch; the transmission system comprises a mechanical coupling device, a gearbox, a power output shaft and the like; the energy storage system comprises a photovoltaic power generation panel and an energy storage device; the driving system comprises a driving system input shaft, left and right traction motors, left and right planet rows, driving wheels and the like; the control system comprises a whole vehicle controller, an energy storage device controller, a motor controller, an engine controller, a vehicle information sensor, a clutch control unit, a brake control unit and the like. According to the crawler tractor, a double-engine and motor mixed connection double-power flow structure is adopted, operation and running under various complex working conditions in hills and mountains are met, rich solar resources in the region are fully utilized, the advantages of a traditional crawler tractor and a new energy tractor are considered, and long-time operation in busy farming seasons is guaranteed.

The invention provides an energy recovery control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the driving habit data and road condition data of a user, the driving habit of the user being the habit of the user controlling the vehicle speed and the rotating speed, and the road condition data being used for representing the road congestion condition; calculating a target energy recovery torque according to the driving habit data and the road condition data; and controlling the motor controller to output the target energy recovery torque. In the embodiment of the invention, the target energy recovery torque is calculated according to the driving habit and the road condition data of the user. It can be understood that the self-adaptive energy recovery mode in the embodiment of the invention is more in line with the driving habits of users, and even if different users drive vehicles, different target energy recovery torques can be calculated respectively, so that the requirements of different users for energy recovery intensity are met, and the user experience is improved.

The invention discloses a hardware-in-the-loop test system of a steering system, which comprises an upper computer, a steering execution simulation system, a wire harness connection fault test box and a motor controller, and is characterized in that the upper computer is used for simulating the driving state of a vehicle and generating vehicle operation condition information; the steering execution simulation system is used for simulating a sensor to generate a corresponding sensor signal according to the vehicle operation condition information and sending the sensor signal to the motor controller; the motor controller is used for generating a motor control signal required when the vehicle executes steering operation according to the received sensor signal; the steering execution simulation system is also used for simulating the work of the motor according to the motor control signal and feeding back the working state information of the motor to the motor controller, so that the upper computer can judge whether the logic function of the steering system is normal or not according to the working state information of the motor; the wire harness connection fault test box is used for simulating open circuit and short circuit of signals between the steering execution simulation system and the motor controller so as to realize fault injection test.

The invention discloses an anti-rollover control method and system for a balanced heavy forklift truck, and relates to the field of forklift truck intelligent control, and the method comprises the steps: collecting forklift truck working condition data through a sensor group, transmitting the data to a central controller through a CAN bus, and carrying out the preprocessing; inputting a rollover risk assessment algorithm, calculating a boundary condition of a static stability triangle and dynamic lateral moment balance, generating a rollover risk coefficient in combination with working condition data of the forklift, and outputting a decision instruction set; dynamic load adjustment is carried out through a hydraulic servo controller, and load pose parameters are obtained; a motor controller is driven to implement torque vector distribution, a braking energy recovery unit is involved, controllable slow-release braking is applied to wheels on the inner side, and adjusted wheel motion state parameters are obtained; and comparing the theoretical prediction model to carry out residual analysis, triggering a residual correction strategy, and carrying out repetitive control. The working state of the forklift is collected in real time and dynamically analyzed, so that the safety of the forklift in the operation process is improved.

The invention discloses a thrust compensation control method and system based on a multi-duct electric aircraft, and belongs to the technical field of aviation aircraft control. When the aircraft runs, a motor controller monitors running data of each motor in real time and diagnoses the fault state of each motor in real time, and once a motor triggers power degradation or failure fault, the motor controller can start the motor controller to start the motor controller; and the electric propulsion control unit distributes the thrust of the remaining motors based on an optimization algorithm. Through the above mode, the system can quickly identify the faulty motor and trigger the thrust optimization algorithm in real time by monitoring the running state of the motor in real time, after the fault occurs, the system calculates the current total thrust and total torque according to the initial thrust distribution and the motor position, redistributes the thrust of the remaining non-faulty motors through the optimization algorithm, and the thrust of the non-faulty motors is optimized. The total thrust and the total torque are kept consistent with those before the fault, the attitude of the aircraft is prevented from being out of control, the service life of a motor battery is balanced by minimizing the thrust difference, and the system reliability is improved.

A modular continuous track system for a utility vehicle is disclosed. The modular continuous track system may include a first crawler unit comprising a first electric motor and a first track mounting system configured to couple the first crawler unit to a first utility platform. The modular continuous track system may include a second crawler unit comprising a second electric motor and a second track mounting system configured to couple the second crawler unit to the first utility platform. The modular continuous track system may include a control system configured to control operation of the first crawler unit and the second crawler unit comprising: a first motor controller electrically coupled to a main controller and the first electric motor, a second motor controller electrically coupled to the main controller and the second electric motor; and the main controller.

The invention discloses a method and device for estimating the junction temperature of a power device through thermal resistance parameter compensation, and the method comprises the steps: calculating the power loss value of the power device according to the operation condition of an electric vehicle cooling system, inputting the power loss value into a thermal resistance model, and obtaining a power consumption thermal resistance parameter value; cooling liquid flow is obtained, and a thermal resistance parameter compensation value is calibrated according to the cooling liquid flow; performing junction temperature estimation on the power device according to the power consumption thermal resistance parameter value and the thermal resistance parameter compensation value; the invention provides a heat management strategy of a variable cooling condition, and the power consumption of the water pump can be reduced; meanwhile, the current cooling flow can be reversely identified by calculating the loss power and the temperature reported by the NTC / PTC temperature sensor and the like during the operation of the system under the strategy, so that the junction temperature estimation of the power module of the motor controller is compensated, the junction temperature estimation precision is improved, the estimation temperature deviation is reduced, and the reliability of the system is improved. And more reliable temperature protection is provided for a motor controller system.

The invention discloses a hill starting control method and system and a vehicle, and relates to the technical field of vehicles. According to the method, when the vehicle is parked on the ramp, the automatic parking function of the vehicle is triggered to be activated, the basic torque is determined based on the obtained road gradient, the first torque request value is generated based on the basic torque and sent to the motor controller, and then after it is determined that the opening degree of an accelerator pedal of the vehicle is changed, the motor controller is started. Adjusting a driving mode of the vehicle to include determining a target torque including a base torque, a first adjustment torque determined based on a brake pedal opening and an accelerator pedal opening of the vehicle, and an assist torque determined by the creep control module, generating a second torque request value based on the target torque, and the second torque request value is sent to the motor controller in the hill starting auxiliary mode. Therefore, the problems of poor stability and poor driving comfort easily caused by the fact that the vehicle completes hill starting through the preset fixed torque or a simple accelerometer are solved.

The invention relates to the technical field of motor control, in particular to a motor controller adaptive rotary transformer processing method and system. The method comprises the following steps: firstly, acquiring a current rotary transformer signal and historical monitoring data of a motor, dividing stages and acquiring a total angle target of each stage; further in the current feedback adjustment process, the angle and the rotating speed of the motor rotor at each moment and the task progress of the motor at the current moment are obtained; further judging whether the current feedback regulation process is regulated or not; when it is further judged that the current feedback adjustment process needs to be regulated and controlled, similar parameters of the current stage and each historical reference stage are obtained according to similar characteristics of angles and rotating speeds of the current stage and the historical stage at the total angle target and the collection moment with the same collection sequence number; further obtaining a feedback control instruction after the current moment in the current stage according to the similar parameters and the PID control instruction in each historical reference stage; and finally controlling the motor according to the feedback control instruction.

The invention discloses an electric brake control system and method for an electrically-driven mining dump truck, and the system comprises a vehicle control unit VCU which is connected with an accelerator pedal, a brake pedal, a tilt angle sensor, a weighing sensor, an intelligent brake switch, a motor controller, a power battery and a retarder. The vehicle control unit VCU, the motor controller and the power battery sequentially form a closed loop, and the motor controller is further sequentially connected with the driving motor, the gearbox and the axle. Whether a vehicle is in a downhill state or not at present is analyzed through the vehicle control unit VCU, the slope angle and the vehicle weight are converted, the vehicle speed, the friction coefficient and the like are combined, appropriate electric braking torque of the vehicle is converted to keep the vehicle speed lower than a certain speed for downhill, and a driving motor is preferentially used for generating electricity and feeding back the electricity to a power battery to achieve braking. When the power generation braking force is insufficient, the retarder intervenes to supplement the braking torque, so that the electrically-driven mine truck automatically goes downhill at a stable speed, energy recovery is realized to the greatest extent, the cruising ability of the electrically-driven mine truck is improved, the electric quantity configuration of a power battery is reduced, and the effects of saving energy, reducing emission and reducing cost are achieved.

The power control method comprises the steps that a whole machine controller of the excavator receives a detection signal of an excavator load and judges the working condition of the excavator, the required torque is calculated according to the working condition of the excavator, and the required torque is output to a motor controller; the motor controller receives the target rotating speed and the required torque of the complete machine controller and the output rotating speed and the output torque of the engine controller, decides charging and discharging of the system and calculates an ISG motor control signal; and a feed-forward feedback control method is adopted to control the ISG motor to assist in driving the excavator load, the feed-forward control value of the ISG motor is the required torque, and the feedback control value of the ISG motor is the rotating speed error calculation value. According to the power control method of the hybrid power excavator, the time of charging and discharging in the excavation period is distributed, and the torque and the charging and discharging parameters can be set according to the characteristics of the battery and the motor, so that the whole system reaches a balance value.

The invention discloses an energy-saving and consumption-reducing control method and system for a multi-stage variable frequency driven underground belt conveyor, and the method comprises the steps: obtaining coal flow data and conveying belt operation speed data according to a coal flow weight signal and an operation speed signal, and carrying out the filtering processing; abstracting and constructing a type-2 fuzzy set of the input parameters; and starting the belt conveyor, and performing multi-stage accurate control on the belt conveyor in combination with the two-degree-of-freedom PID and the type-II fuzzy set. According to the system, a coal flow monitoring sensor is installed on a belt conveyor; the speed sensor is mounted on the driving roller; the composite frequency conversion unit comprises a main frequency conversion unit and auxiliary frequency conversion units I and II, the main frequency conversion unit comprises a main frequency converter and a main motor which are connected, and each auxiliary frequency conversion unit comprises an auxiliary frequency converter and an auxiliary motor which are connected; the controller is connected with the coal flow monitoring sensor, the speed sensor, the composite frequency conversion unit and the human-computer interaction interface. According to the method and the system, multi-stage accurate control on the running speed of the belt conveyor can be realized, and the energy-saving effect is ideal.

A coaxial asynchronous motor drive system, including a speed reducer, an electric motor and a main housing, and further including a motor controller, wherein the electric motor and the speed reducer are connected to form a motor reducer assembly and mounted inside the main housing, and the motor controller is fixed to the main housing and connected to the motor reducer assembly. The system reduces parasitic loss of an auxiliary motor drive system of a battery electric four-wheel-drive vehicle and increases the range per charge of the vehicle, and the compact and integrated coaxial motor drive system facilitates maximum utilization of available space of the vehicle.

The invention provides a multi-motor synchronous control method, a multi-motor synchronous control system, a non-transient readable storage medium and a seat system. The multi-motor synchronous control method comprises the following steps: starting a plurality of motors based on a request of a main controller, the plurality of motors including a first motor and at least one second motor, the first motor and the at least one second motor being respectively controlled by a first motor controller and at least one second motor controller which are in communication connection with each other; acquiring first position information of the first motor and second position information of the second motor; and adjusting the running speed of the first motor or the second motor based on the first position information and the second position information. According to the invention, the real-time position information of the first motor and the second motor is obtained, and the operation speeds of the plurality of motors are adjusted through the respective motor controllers of the first motor and the second motor, so that the independent and synchronous operation of the plurality of motors is realized.

The invention discloses an electric vehicle dual-motor cooperative driving energy-saving optimization method and system, and relates to the technical field of energy-saving optimization, and the method comprises the steps: collecting the data of a vehicle operation state; the torque distribution ratio alpha of the double motors is optimized according to a set objective function, the moving direction and speed are adjusted according to the optimal position of the double motors and the optimal position of a group, the optimal point is found, and the optimal torque distribution ratio is obtained; and generating a corresponding torque distribution instruction according to the optimal torque distribution ratio, sending the torque distribution instruction to a motor controller, and executing corresponding torque control. Parameters of the ES-PSO algorithm can be adjusted according to specific problems, and the flexibility helps to better adapt to different drive distribution strategy optimization problems.

The invention discloses a short-circuit current limiting and short-circuit recovery transient voltage control device and method for an aviation three-stage power generation system, and the device comprises a three-stage power generator, a power generator controller, a current sensor, a voltage and current collection module, and an asymmetric half-bridge excitation control circuit. Collecting the output current iL and voltage UL of the generator through a digital processor of the generator controller; when short circuit occurs, the given voltage USet of the voltage regulating loop is linearly reduced in a piecewise mode according to the relation between the iL and a preset threshold value, so that the generator works in a constant power interval; and when the short circuit is recovered, closing the upper / lower power tubes of the asymmetric half-bridge excitation control circuit according to the relationship between UL and a preset threshold value in a grading manner, and triggering a negative-pressure follow-current mode of a main excitation winding of the generator controller to quickly extinguish the field. The method can adapt to different generators without adjusting hardware circuit parameters, has no motor ablation risk during short circuit, has transient voltage less than 350V after short circuit recovery, has no power supply interruption in the whole process, has response delay less than 1ms, and greatly improves the safety and robustness of an aviation power supply and distribution system.

The invention provides a motor controller heating system, a control method thereof and a vehicle, and relates to the technical field of vehicle control, and the method comprises the steps: controlling the conduction states of a first switch module, a second switch module, a third switch module and an inverter, the energy storage element, the inverter, the two-phase winding in the three-phase motor and the power battery are connected in sequence to form a charging and discharging loop of the power battery; obtaining a target current and a target voltage of the power battery, a phase current of a first phase winding in the three-phase motor and a current voltage of the power battery; according to the target current, the target voltage, the current voltage and the phase current, the duty ratio of a control pulse of a first phase bridge arm in an inverter connected with the first phase winding is obtained, the first phase bridge arm is controlled according to the duty ratio so as to adjust the current of a charging and discharging loop, mutual charging and discharging between a power battery and an energy storage element can be achieved, and the charging and discharging efficiency is improved. The heating capacity of the power battery is improved, the capacity loss is reduced, and the current can be accurately controlled.

A robot controller for controlling a robot arm includes a first space shaping module configured to provide a shaped first space target motion by convolving a first space target motion with an impulse train, where the first space target motion defines a target motion in a first reference space; a second space shaping module configured to provide a shaped second space target motion by convolving a second target motion with the impulse train; where the second target motion defines the target motion in a second reference space; and a motor controller module to generate motor control signals to the joint motors based on the shaped first space target motion and the shaped second space target motion.

The invention relates to a slope parking control method and system for an electric truck and the electric truck. According to the slope parking control method for the electric truck, a motor controller MCU executes the steps, and state information of the truck is obtained; when the slope sliding condition is met, a slope holding mode is executed; in the hill-holding mode, the MCU determines control parameters according to the current gear and the load state so as to realize zero setting of the rotating speed of the motor; the control parameters comprise a P I parameter, a rotating speed slope parameter and a torque slope parameter. When the truck is parked on the slope, different control parameters can be output to adapt to different gears and different loading states of the truck, and smoothness of the truck in the slope parking process is effectively guaranteed.

The embodiment of the invention discloses a fault diagnosis device of a permanent magnet synchronous motor driving system for an electric fuel pump, which is arranged in the permanent magnet synchronous motor driving system and comprises a three-phase voltage and current monitoring module connected to the output end of a permanent magnet synchronous motor, the motor rotating speed acquisition module is arranged on a rotor of the permanent magnet synchronous motor; the permanent magnet synchronous motor turn-to-turn short circuit fault diagnosis module, the permanent magnet synchronous motor uniform demagnetization fault diagnosis module, the permanent magnet synchronous motor local demagnetization fault diagnosis module, the inverter single-tube fault diagnosis module and the rotary transformer fault diagnosis module are arranged in the motor controller. The permanent magnet synchronous motor driving system provided with the fault diagnosis device provided by the embodiment of the invention has diagnosis capability, can realize online calculation and is rapid in diagnosis, so that the fault can be found in time, and technical support is provided for further eliminating the fault hidden danger in the subsequent process.

The invention relates to the technical field of reciprocation pump control, in particular to a closed-loop control motor-driven ball screw reciprocation pump and a control method, and the closed-loop control motor-driven ball screw reciprocation pump is mainly characterized in that an outlet of a fluid end module is connected with a pressure sensor; the pressure sensor, the motor controller, the rotary transformer and the position sensor are electrically connected with the central controller, the central controller is used for outputting a control signal enabling the driving motor to rotate to the motor controller, and the motor controller is used for controlling the driving motor to operate. According to the scheme, a brake is removed, the defects caused by the brake are avoided, in the prior art, no matter whether a brake pad is abraded or the inertia problem of the brake exists, a brake system cannot be achieved in the industry of the reciprocating pump at all, and in the reciprocating pump, the brake pad is not abraded. The speed, the position and the thrust of the reciprocating pump device are accurately controlled in a full-digital manner through the central controller, so that the ball screw reciprocating pump with the structure achieves the purpose of industrial use in the industry.

The present application provides a control method, device, vehicle and storage medium for vehicle steering. When the automatic U-turn mode is turned on, the vehicle controller obtains the auxiliary parameters of the vehicle according to the pre-activation signal input by the user, and generates the target direction, rotation angle, feedforward torque, target wheel speed, and then sends a steering instruction to the motor controller. The motor controller responds according to the feedforward torque, obtains a response signal, and sends it to the vehicle controller. Based on the response signal, the vehicle controller obtains the swing angle sensor information and the lateral longitudinal acceleration information to calculate the wheel rotation angle and sends it to the motor controller. The motor controller performs self-closed loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle and auxiliary parameters to control the vehicle to complete the steering. Automatic U-turn and zero turning radius steering of the vehicle are realized, making the vehicle steering more flexible, accurate and efficient, and reducing the rotation error, achieving millisecond-level drive control.