The invention provides an amphibious vehicle, belongs to the technical field of machinery and solves a problem that an existing amphibious vehicle cannot keep stable steering under various road conditions. The amphibious vehicle comprises a frame, wheels, a steering wheel, a controller, a first detection element and a second detection element, wherein each wheel is correspondingly provided with adriving mechanism, the controller sends a control signal to the driving mechanism of the corresponding wheel according to the steering wheel rotating angle information collected by the first detectionelement to output the corresponding initial driving torque, and the target yaw velocity required by steering of the frame is obtained through calculation, and the controller compares difference between the actual yaw velocity of the frame acquired by the second detection element and the target yaw velocity and sends a control signal to the driving mechanism of the corresponding wheel to adjust the output target driving torque in real time till steering is completed. The amphibious vehicle can steer stably and accurately on various special road occasions, and good and accurate steering directivity can be obtained.
本发明提供了一种两栖车,属于机械技术领域。它解决了现有的两栖车无法在各种路面情况下保持稳定转向的问题。本两栖车,包括车架、车轮、方向盘、控制器、检测元件一和检测元件二,每个车轮上均对应设有一个驱动机构,控制器根据检测元件一采集的方向盘转动角度信息发送控制信号给对应车轮的驱动机构输出对应的初始驱动扭矩,同时计算获得车架转向所需求的目标横摆角速度;控制器通过比对检测元件二采集的车架实际横摆角速度与目标横摆角速度之间的差值并发送控制信号给对应车轮的驱动机构实时调整输出的目标驱动扭矩直至完成转向。本两栖车能够在各种特殊的路面场合下实现稳定、精准的转向,又能够获得良好、精确的转向指向性。
Amphibious vehicle
一种两栖车
2020-07-14
Patent
Electronic Resource
Chinese