An AGV mobile platform system and method based on a hub motor are provided with a vehicle control unit VCU, the drive control end of the vehicle control unit VCU is connected with four motor MCU controllers, and the output ends of the motor MCU controllers are connected with motor drive modules. The brake control end of the VCU is connected with a brake control module, and the steering control endof the VCU is connected with a steering control module. The control method comprises the steps of 1, inputting task data; 2, sending a control instruction to a motor MCU controller, and sending a driving signal to a corresponding motor driving module by the motor MCU controller according to the instruction; 3, sending a braking instruction to a braking control module by the vehicle control unit VCU according to the task data, and realizing hub braking; and 4, detecting the thrust of each driving motor by the vehicle control unit VCU in real time, and if the thrust disappears, entering a standby state by a driving motor; and when thrust recovery is detected, continuing to walk.
一种基于轮毂电机的AGV移动平台系统及方法,设置有车辆控制单元VCU,该车辆控制单元VCU的驱动控制端分别连接有四个电机MCU控制器,该电机MCU控制器的输出端分别连接有电机驱动模块;所述车辆控制单元VCU制动控制端连接有制动控制模块,转向控制端连接有转向控制模块。控制方法为步骤一:录入任务数据;步骤二:发出控制指令到电机MCU控制器,该电机MCU控制器根据指令,发出驱动信号到对应的电机驱动模块;步骤三:车辆控制单元VCU根据任务数据发出制动指令到制动控制模块,实现轮毂制动;步骤四:车辆控制单元VCU实时检测各个驱动电机的推力,如推力消失,驱动电机进入待机状态;检测到推力恢复,继续行走。
AGV mobile platform system and method based on hub motor
基于轮毂电机的AGV移动平台系统及方法
2021-02-09
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / H02K Dynamoelektrische Maschinen , DYNAMO-ELECTRIC MACHINES / H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern |
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