The invention relates to a control method of an omni-directional vehicle and the omni-directional vehicle, and belongs to the technical field of control, the omni-directional vehicle is provided with a chassis, the chassis is provided with at least two differential modules, and each differential module comprises two wheels. The control method comprises the following steps that the movement speed of each wheel and the rotation angle of each differential module are obtained; and the corresponding wheel is driven to rotate according to the movement speed of each wheel and the rotation angle of each differential module. The differential module comprising the two wheels is used as a power system of the omni-directional vehicle, and the rotating speed of each wheel is independently changed to form the speed difference of the wheels in the same group so as to change the driving direction of the differential module, so that the driving direction of the omni-directional vehicle is changed; therefore, the running speed and the running direction of the omni-directional vehicle can be controlled only by independently controlling the rotating speed of each wheel.
本发明涉及一种全向车的控制方法和全向车,属于控制技术领域,所述全向车具有底盘,所述底盘安装有至少两个差速模组,每个所述差速模组包括两个车轮,所述控制方法包括如下步骤:获取每个车轮的运动速度和每个差速模组的转动角度;根据每个车轮的运动速度和每个差速模组的转动角度驱动相应车轮旋转。本发明使用包括两个车轮的差速模组作为全向车的动力系统,通过相互独立地改变每个车轮的旋转速度形成同组车轮的速度差以改变差速模组的行驶方向,从而改变全向车的行驶方向,进而仅仅通过相互独立地控制每个车轮的旋转速度即可实现控制全向车的行驶速度与方向。
Control method of omnidirectional vehicle and omnidirectional vehicle
一种全向车的控制方法和全向车
13.05.2025
Patent
Elektronische Ressource
Chinesisch