The invention relates to a farm tool bearing movement chassis system which comprises a remote control device and a chassis. The remote control device comprises a steering deflector rod and an acceleration and deceleration deflector rod which respectively generate a steering deflector rod displacement signal and an acceleration and deceleration deflector rod displacement signal. The chassis comprises a driving wheel, a hub motor, a motor driving controller and an intelligent controller. And the hub motor provides power for the driving wheel. The intelligent controller comprises a steering gain calculation module, a longitudinal control quantity calculation module and a linear control quantity calculation module which can respectively calculate the steering gain, the longitudinal control quantity and the linear control quantity of the farm tool bearing movement chassis; therefore, the motor driving controller can convert the linear control quantity to obtain the running voltage required by each hub motor of the chassis, and then the rotating speeds of different hub motors are adjusted according to the running voltage. The chassis system is high in flexibility, controllability and trafficability of driving of a traditional farm tool are effectively improved, and the farm tool can adapt to farming environments and road conditions in more scenes.
本发明涉及一种农具承载运动底盘系统,包括遥控装置以及底盘。遥控装置包括转向拨杆和加减速拨杆,分别产生转向拨杆位移信号和加减速拨杆位移信号。底盘包括驱动轮、轮毂电机、电机驱动控制器以及智能控制器。轮毂电机为驱动轮提供动力。智能控制器包括转向增益计算模块、纵向控制量计算模块以及线性控制量计算模块,能够分别计算出农具承载运动底盘的转向增益、纵向控制量以及线性控制量,从而电机驱动控制器可以将线性控制量转换得到底盘的各个轮毂电机所需的运行电压,进而根据运行电压调节不同轮毂电机的转速。该底盘系统的灵活性高,有效提升了传统农具驱动的可操控性以及通过性,令农具能够适应更多场景下的农耕环境和路况。
Farm tool bearing movement chassis system
一种农具承载运动底盘系统
2023-01-10
Patent
Electronic Resource
Chinese
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