The invention discloses a speed sensorless electric crawler chassis steer-by-wire control method. A control part is composed of a main controller, an electronic differential mechanism, a left speed sensorless motor controller, a right speed sensorless motor controller, a left voltage sensor and a right voltage sensor. The main controller is connected with the electronic differential mechanism, theelectronic differential mechanism is connected with the left speed sensorless motor controller and the right speed sensorless motor controller, the left speed sensorless motor controller and the right speed sensorless motor controller are connected with a left driving motor and a right driving motor respectively, and the speeds of the left driving motor and the right driving motor of an electriccrawler chassis are controlled respectively. The left driving motor and the right driving motor are connected with the left voltage sensor and the right voltage sensor respectively, the left voltage sensor and the right voltage sensor feed signals back to the electronic differential mechanism, and the electronic differential mechanism outputs the rotating speed needed by steering to the left speedsensorless motor controller and the right speed sensorless motor controller respectively. And meanwhile, the left driving motor and the right driving motor are driven to work differentially, and steering control over the crawler chassis is achieved. The control method is used for the electric crawler chassis driven by double motors, and steering control over the speed sensorless electric crawlerchassis can be achieved.
本发明公开一种无速度传感器的电动履带底盘线控转向控制方法,由主控制器、电子差速器、左无速度传感器电机控制器、右无速度传感器电机控制器、左电压传感器、右电压传感器组成。主控制器连接电子差速器,电子差速器连接左无速度传感器电机控制器与右无速度传感器电机控制器,左无速度传感器电机控制器与右无速度传感器电机控制器分别连接左驱动电机与右驱动电机,分别对电动履带底盘左驱动电机和右驱动电机速度控制。左驱动电机与右驱动电机分别连接左电压传感器与右电压传感器,左电压传感器与右电压传感器将信号反馈给电子差速器,由电子差速器将转向所需转速分别输出左无速度传感器电机控制器和右无速度传感器电机控制器,同时驱动左驱动电机和右驱动电机差速工作,实现履带底盘的转向控制。本发明用于双电机驱动的电动履带底盘,可实现无速度传感器的电动履带底盘转向控制。
Speed sensorless electric crawler chassis steering control method
一种无速度传感器的电动履带底盘转向控制方法
2021-01-26
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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