The invention relates to a tractor walking control system, which comprises a driving control system, a radar and a battery, the driving control system comprises a remote controller, a PLC controller, a wheel side motor encoder and a gyroscope, the gyroscope, the remote controller and the PLC controller, the battery and the PLC controller, and the PLC controller and the wheel side motor encoder are connected through a CAN bus. The radars are placed in four directions of the tractor, and the gyroscope is placed in the center of the tractor. The system utilizes the remote controller to realize walking, turning, braking and sudden stop of the tractor; obstacles in a certain range in four directions are detected through the radar, and braking or sudden stop of the tractor is achieved; according to the system, the walking and turning functions of the tractor are completed through differential control, and the speed closed-loop control process is achieved through the gyroscope arranged on the tractor body.

    本发明涉及一种牵引车行走控制系统,包括驱动控制系统、雷达和电池,所述驱动控制系统包括遥控器、PLC控制器、轮边电机编码器、陀螺仪,所述陀螺仪、遥控器和PLC控制器之间,电池和PLC控制器之间,PLC控制器和轮边电机编码器之间均是通过CAN总线连接,所述雷达放置在牵引车的四个方位,所述陀螺仪放置在牵引车的中心位置。本系统利用遥控器实现牵引车的行走、转弯、制动急停;通过雷达检测四个方向一定范围内的障碍物,实现牵引车的制动或急停;本系统利用差速控制来完成牵引车的行走与转弯功能,并利用布置在车身的陀螺仪,实现速度闭环控制流程。


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    Title :

    Tractor walking control system


    Additional title:

    一种牵引车行走控制系统


    Contributors:
    GAO DONG (author) / FENG JICHI (author) / XIAO XINXIANG (author) / WEI TIANHUA (author) / JIA YONGLE (author)

    Publication date :

    2023-10-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / 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



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