The invention relates to the technical control field of driving wheels, in particular to an eight-wheel omni-directional motor driving mobile platform system and a control method thereof. Comprising four wheel assemblies, each wheel assembly comprises a left hub motor and a right hub motor, the left hub motor and the right hub motor are connected with a left wheel and a right wheel respectively, the left wheel and the right wheel form a wheel module, and the left hub motor and the right hub motor are both connected with direction angle sensors. The direction angle sensor is connected with a DIR direction module, the DIR direction module is connected with a CAN data decoding module, the CAN data decoding module is connected with the main control module, the left hub motor is connected with a left FOC software module through a left power driving module, and the right hub motor is connected with a right FOC software module through a right power driving module. The whole mobile platform advances according to a direction reference value and a speed reference value which are set by the main control module at the beginning, and errors can be continuously adjusted according to needs in the movement process, so that the movement is completed in the direction and at the speed set by the main control module.

    本发明涉及驱动轮技术控制领域,具体涉及八轮全向电机驱动移动平台系统及其控制方法。包括四个车轮组件,四个车轮组件均包括左轮毂电机和右轮毂电机,左轮毂电机和右轮毂电机分别连接有左车轮和右车轮,左车轮和右车轮形成车轮模组,左轮毂电机和右轮毂电机均连接有方向角度传感器,方向角度传感器连接有DIR方向模块,DIR方向模块连接有CAN数据解码模块,CAN数据解码模块连接主控模块,左轮毂电机通过左功率驱动模块连接有左FOC软件模块,右轮毂电机通过右功率驱动模块连接有右FOC软件模块。使整个移动平台按照主控模块最开始设定的方向基准值和速度基准值前进,运动过程可根据需要不断调整误差,使之达到主控模块既定的方向和速度完成运动。


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    Titel :

    Eight-wheel omnidirectional motor-driven mobile platform system and control method thereof


    Weitere Titelangaben:

    八轮全向电机驱动移动平台系统及其控制方法


    Beteiligte:
    JIANG XIANWU (Autor:in) / LIU WENXUN (Autor:in) / ZHAI CHUNBEI (Autor:in) / JIANG JUN (Autor:in) / YANG DEYUN (Autor:in)

    Erscheinungsdatum :

    2023-08-11


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge



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