The invention relates to the technical field of steer-by-wire, in particular to a high-precision steer-by-wire mechanism of a composite mobile robot and a steering method thereof, the steering mechanism comprises a steering structure and a vehicle-mounted controller, and the steering structure comprises a left wheel set mechanism, a right wheel set mechanism and a steering mechanism. And the vehicle-mounted controller calculates the difference between the actual tire rotation angle and the theoretical rotation angle, and the optimized speed data processed by the optimization algorithm is fed back to the left wheel set mechanism, the right wheel set mechanism and the steering mechanism. By measuring the speed difference of the rear wheels, the actual steering angle of the wheels and the theoretical steering angle of the steering motor are calculated according to the mechanical characteristics of the steering system; a steering angle compensation mechanism and a wheel speed compensation mechanism are introduced, and the wheel speed and angle errors occurring in the steering process can be optimized through an algorithm; the dynamic errors are adjusted in real time through a motion compensation control algorithm, it is ensured that the speeds of the four wheels are accurately matched with the turning radius, and the precision of the steering process and the control stability of the vehicle are remarkably improved through the method.
本发明涉及线控转向技术领域,具体是一种复合移动机器人的高精度线控转向机构及其转向方法,该转向机构包括转向结构、车载控制器,转向结构包括左轮组机构、右轮组机构、转向机构。车载控制器通过计算实际轮胎转角与理论转角的差异,优化算法处理数据优化后的速度数据被反馈至左轮组机构、右轮组机构、转向机构。本发明通过测量后轮的速度差,根据转向系统的机械特性计算出车轮的实际转向角与转向电机的理论转角;再通过引入转向角补偿和车轮速度补偿机制,算法能够优化转向过程中出现的轮速和角度误差;利用运动补偿控制算法对这些动态误差进行实时调整,确保四轮的速度与转弯半径的精确匹配,此方法显著提高了转向过程的精度和车辆的操控稳定性。
High-precision steer-by-wire mechanism of composite mobile robot and steering method of high-precision steer-by-wire mechanism
一种复合移动机器人的高精度线控转向机构及其转向方法
2025-01-24
Patent
Electronic Resource
Chinese
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