The invention discloses an autonomous driving anti-skid control system based on truck refitting and a control method thereof, the driving anti-skid control system comprises a control device and at least two bearing mechanisms, and each bearing mechanism comprises a support; the upper end of the swing arm is hinged with the bracket; the push rod can stretch out and draw back and is used for driving the swing arm to swing up and down; the wheels are mounted at the lower ends of the swing arms; the drive bearing mechanism further comprises a pressure sensor, a servo motor, a coupler and a speed reducer. The pressure sensor is installed at the lower end of the push rod. The auxiliary bearing mechanism further comprises a wheel speed sensor installed on the driven wheel. The control device comprises a driving anti-skid controller and a motor controller; the invention further discloses a control method for driving the anti-skid control system. According to the driving anti-skid control system and the control method thereof, the number of control modules is small, reliability is high, cost is low, the defects that the system is low in response speed, single in control algorithm, poor in anti-interference capacity and the like can be overcome, and accurate control over the running position of the vehicle is achieved.

    本发明公开了一种基于卡车改装的自主行驶驱动防滑控制系统及其控制方法,驱动防滑控制系统包括控制装置和至少两个承载机构,每个承载机构包括:支架;摆臂,其上端与支架铰接;推杆,其能够伸缩,用于驱动摆臂上下摆动;以及车轮,其安装于摆臂的下端;驱动承载机构还包括压力传感器、伺服电机、联轴器和减速器,压力传感器安装于推杆的下端;辅助承载机构还包括安装于从动轮上的轮速传感器;控制装置包括驱动防滑控制器和电机控制器;还包括驱动防滑控制系统的控制方法。采用本发明的驱动防滑控制系统和其控制方法,控制模块少,可靠性高,成本低,能够克服系统响应速度慢、控制算法单一且抗干扰能力差等缺点,实现车辆行驶位置的精确控制。


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    Title :

    Autonomous driving anti-skid control system based on truck modification and control method thereof


    Additional title:

    基于卡车改装的自主行驶驱动防滑控制系统及其控制方法


    Contributors:
    MENG YANMEI (author) / XIANG YANG (author) / WEI JIN (author) / ZHANG JINLAI (author) / DONG ZHEN (author) / WU HAO (author) / TANG ZHIHONG (author)

    Publication date :

    2022-07-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen



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