CN110775155A - STM32 control-based control method for rear wheel drive front wheel steering AGV - Google Patents
STM32 control-based control method for rear wheel drive front wheel steering AGV Download PDFInfo
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- CN110775155A CN110775155A CN201911024699.4A CN201911024699A CN110775155A CN 110775155 A CN110775155 A CN 110775155A CN 201911024699 A CN201911024699 A CN 201911024699A CN 110775155 A CN110775155 A CN 110775155A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention belongs to the technical field of AGV (unmanned automatic transport vehicle) steering wheel drive control, and relates to a control method for controlling a rear wheel drive front wheel steering AGV based on STM32 control. The method is based on an Ackerman steering system to establish a mathematical model, and the steering angle is an inner corner and an outer corner; and then calculating the rotating speed of the outer side wheel of the rear wheel during steering through the rotating speed of the inner side wheel of the rear wheel during steering, and distributing the obtained rotating angle and the rotating speed to the driving motor of the corresponding wheel to realize steering. The front steering rear driving AGV has the advantages of good accelerating and climbing capabilities, good driving smoothness, large turning radius and the like. The front-wheel steering and rear-wheel driving automatic transport robot is suitable for a front-wheel steering and rear-wheel driving automatic transport robot, can effectively reduce the motion resistance of a rear-wheel driving front steering vehicle, and prevents the problems of side slipping and side turning in the steering process.
Description
The technical field is as follows:
the invention belongs to the technical field of AGV (unmanned automatic transport vehicle) steering wheel drive control, and relates to a control method for controlling a rear wheel drive front wheel steering AGV based on STM32 control.
Background art:
the rear-drive front steering is that the rear wheels push the front wheels to drive the AGV to move forward in actual moving, wherein the front-row wheels are responsible for steering, and the rear-row wheels are used for bearing the driving work of the whole AGV.
Compared with a driving form of front wheel driving (front driving for short), the rear wheel driving (rear driving for short) has greater superiority, when the rear-driven AGV starts, accelerates or climbs on a good road surface, the adhesion pressure of the driving wheel is increased, the traction is obviously superior to the front driving form, and the driving smoothness is good; the front drive is easy to generate understeer when turning, and the rear drive can provide a larger turning radius when turning.
And ensuring that the vehicle sideslips in the process of rear-drive front steering, and reducing the resistance in the process of turning to the minimum, wherein the AGV needs the rear-drive front steering, and performs steering differential operation on a front wheel driver and driving differential operation on a rear wheel driver in the process of turning.
Disclosure of Invention
The invention discloses a control method of a rear wheel drive front wheel steering AGV based on STM32 control, which aims to solve any one of the above and other potential problems in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows: a control method for a rear wheel drive front wheel steering AGV based on an STM32 main controller is characterized in that a mathematical model is established based on an Ackerman steering system, the steering is divided into an inner corner and an outer corner, and the corresponding angle of the outer corner when the outer side wheel of the front wheel is steered is calculated through the inner corner angle when the inner side wheel of the front wheel is steered as the inner corner is larger than the outer corner; and then calculating the rotating speed of the outer side wheel of the rear wheel during steering through the rotating speed of the inner side wheel of the rear wheel during steering, and distributing the obtained rotating angle and the rotating speed to the driving motor of the corresponding wheel to realize steering.
Further, the control method specifically comprises the following steps:
s1) the STM32 main controller is connected with each walking driver and each driving motor;
s2) STM32 Main controller acquires inner corner angle theta when the inner side wheel of the front steering wheel turns
1Rotational speed n of the inner wheel of the rear wheel
1Respectively calculating to obtain the external turning angle theta of the external side wheel of the front wheel
2And the rotational speed n of the outer wheel of the rear wheel
2；
S3) STM32 main controller respectively sends the computer to corresponding driver and driving motor to realize steering.
Further, the specific steps of S2) are:
s2.1) calculating the external turning angle theta of the external wheel of the front wheel according to the formula (1)
2The formula is as follows:
θ
1＝arccot(cotθ
2-A), (1)
in the formula, theta
1Is the inner angle of the inner wheel of the front wheel, theta
2The outer corner of the wheel outside the front wheel, A is a constant and the value range is 0.45-0.75;
s2.2) calculating the external turning angle theta of the external wheel of the front wheel according to the formula (2)
2The formula is as follows:
n
1＝n
2×(1-A)tanθ
2, (2),
in the formula, n
1Rotational speed of the inner wheel of the rear wheel, n
2Speed of rotation of the inner wheels of the rear wheels, theta
2The outer corner of the wheel outside the front wheel, A is a constant and the value range is 0.45-0.75.
Furthermore, the STM32 main controller and each walking driver adopt CANopen communication protocol for communication connection.
Further, the STM32 main controller configures an SDO object of the motor driver according to the object dictionary, and then configures objects such as a PDO (product data object) of the motor driver through the SDO object to determine each operation mode of the motor.
A computer program implementing the above-described control method for a rear wheel drive front wheel steering AGV based on STM32 control.
An information processing terminal for realizing the control method of the rear wheel drive front wheel steering AGV based on STM32 control.
A computer readable storage medium comprising instructions which, when executed on a computer, cause the computer to perform the above-described control method for rear wheel drive front wheel steering AGV based on STM32 control.
The invention has the beneficial effects that: by adopting the technical scheme, the front steering and rear driving AGV has the advantages of good accelerating and climbing capabilities, good driving smoothness, large turning radius and the like. The invention provides a front wheel steering and rear wheel driving differential algorithm in an AGV turning process, which is suitable for an automatic transport robot driven by front wheel steering and rear wheel, can effectively reduce the motion resistance of a rear-drive front steering vehicle, and prevents the problems of sideslip and side turn in the turning process.
Drawings
FIG. 1 is a block diagram of a flow chart of a method for controlling a rear wheel drive front wheel steering AGV based on STM32 control according to the present invention.
Fig. 2 is a logic block diagram of a drive system employing the control method of the present invention.
Fig. 3 is a schematic diagram of a control principle of the control method of the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The technical scheme of the invention is further explained by combining the attached drawings.
The invention relates to a control method of a rear wheel drive front wheel steering AGV based on an STM32 main controller, which is characterized in that a mathematical model is established based on an ackerman steering system, the steering is divided into an inner corner and an outer corner, and the corresponding angle of the outer corner when the outer side wheel of the front wheel is steered is calculated through the angle of the inner corner when the inner side wheel of the front wheel is steered because the inner corner is larger than the outer corner; and then calculating the rotating speed of the outer side wheel of the rear wheel during steering through the rotating speed of the inner side wheel of the rear wheel during steering, and distributing the obtained rotating angle and the rotating speed to the driving motor of the corresponding wheel to realize steering.
Further, the control method specifically comprises the following steps:
s1) the STM32 main controller is connected with each walking driver and each driving motor;
s2) STM32 Main controller acquires inner corner angle theta when the inner side wheel of the front steering wheel turns
1Rotational speed n of the inner wheel of the rear wheel
1Respectively calculating to obtain the external turning angle theta of the external side wheel of the front wheel
2And the rotational speed n of the outer wheel of the rear wheel
2；
S3) the STM32 main controller sends the computer stream to the corresponding driver and driving motor, respectively, to realize steering, as shown in fig. 1.
Further, the specific steps of S2) are:
s2.1) calculating the external turning angle theta of the external wheel of the front wheel according to the formula (1)
2The formula is as follows:
θ
1＝arccot(cotθ
2-A), (1)
in the formula, theta
1Is the inner angle of the inner wheel of the front wheel, theta
2The outer corner of the wheel outside the front wheel, A is a constant and the value range is 0.45-0.75;
s2.2) calculating the external turning angle theta of the external wheel of the front wheel according to the formula (2)
2The formula is as follows:
n
1＝n
2×(1-A)tanθ
2,, (2)
in the formula, n
1Rotational speed of the inner wheel of the rear wheel, n
2Speed of rotation of the inner wheels of the rear wheels, theta
2The outer corner of the wheel outside the front wheel, A is a constant and the value range is 0.45-0.75.
Furthermore, the STM32 main controller and each walking driver adopt CANopen communication protocol for communication connection.
Further, the STM32 main controller configures an SDO object of the motor driver according to the object dictionary, and then configures objects such as a PDO (product data object) of the motor driver through the SDO object to determine each operation mode of the motor.
A computer program implementing the above-described control method for a rear wheel drive front wheel steering AGV based on STM32 control.
An information processing terminal for realizing the control method of the rear wheel drive front wheel steering AGV based on STM32 control.
A computer readable storage medium comprising instructions which, when executed on a computer, cause the computer to perform the above-described control method for rear wheel drive front wheel steering AGV based on STM32 control.
Example (b):
adopt CANopen communication protocol with STM32 main control unit respectively with the steering driver of 2 front wheels and the walking driver control connection of 2 rear wheels, steering driver and walking driver respectively with walking motor and steering motor control connection, walking motor and steering motor control send real-time information to steering driver and walking driver through incremental encoder, steering driver and walking driver add data and send for STM32 main control unit again, turn left, left front wheel corner angle (the interior corner angle of front wheel) is theta 1, right front wheel corner angle (the exterior corner angle of front wheel) is theta 2, left rear wheel slew velocity (the interior wheel slew velocity of rear wheel) is n1, right rear wheel slew velocity (the exterior wheel slew velocity of rear wheel) is n2, can deduce the differential motion equation of turning that the front wheel turned to the rear wheel drive according to the vehicle dynamics equation and be:
left front wheel (inner wheel) rotation angle: theta
1＝arccot(cotθ
2-0.65714)；
Right front wheel (outer wheel) rotation angle: theta
2；
Left rear wheel (inner wheel) rotation speed: n is
1＝n
2×(1-0.65714)tanθ
2；
Right rear wheel (outer wheel) rotation speed: n is
2；
In the steering process of the AGV, the AGV master control system resolves the distribution of the rotation angle and the rotation speed of the inner wheel according to the received rotation angle and the rotation speed instruction of the outer wheel and according to the steering differential motion equation, and sends the angle distribution value and the speed distribution value instruction to the corresponding servo driver after resolving, as shown in fig. 2 and 3.
While preferred embodiments of the present invention have been shown and described herein, it will be understood by those skilled in the art that changes in the embodiments herein may be made without departing from the spirit of the invention. The above examples are merely illustrative and should not be taken as limiting the scope of the invention.
Claims (8)
1. A control method for a rear wheel drive front wheel steering AGV based on an STM32 main controller is characterized in that a mathematical model is established based on an Ackerman steering system, the steering is divided into an inner corner and an outer corner, and the corresponding angle of the outer corner when the outer side wheel of the front wheel is steered is calculated through the inner corner angle when the inner side wheel of the front wheel is steered as the inner corner is larger than the outer corner; and then calculating the rotating speed of the outer side wheel of the rear wheel during steering through the rotating speed of the inner side wheel of the rear wheel during steering, and distributing the obtained rotating angle and the rotating speed to the driving motor of the corresponding wheel to realize steering.
2. The control method according to claim 1, specifically comprising the steps of:
s1) the STM32 main controller is connected with each walking driver and each driving motor;
s2) STM32 Main controller collects the inner corner angle of the inner side wheel of the front steering wheel when the inner side wheel is steered
θ 1 Rotational speed of inner wheel of rear wheel
n 1 Respectively calculating the external rotation angle of the front wheel and the external side wheel
θ 2 And the rotational speed of the wheel outside the rear wheel
n 2 ；
S3) STM32 main controller respectively sends the computer to corresponding driver and driving motor to realize steering.
3. The control method according to claim 2, characterized in that the specific steps of S2) are:
s2.1) according to the formula (1), the external turning angle of the wheel outside the front wheel is obtained
θ 2 ，The formula is as follows:
θ 1 =
arccot
(cot
θ 2 -A),（1）
in the formula (I), the compound is shown in the specification,
θ 1 is the inner corner angle of the inner side wheel of the front wheel,
θ 2 the outer corner of the wheel outside the front wheel, A is a constant and the value range is 0.45-0.75;
s2.2) according to the formula (2), the external turning angle of the wheel outside the front wheel is obtained
θ 2 ，The formula is as follows:
n 1 =
n 2 ×（1-A）tanθ 2 ,(2)
in the formula (I), the compound is shown in the specification,
n 1 the rotating speed of the inner side wheel of the rear wheel,
n 2 the rotating speed of the inner side wheel of the rear wheel,
θ 2 the outer corner of the wheel outside the front wheel, A is a constant and the value range is 0.45-0.75.
4. The control method according to claim 2, wherein the STM32 master controller is in communication connection with each walking driver by using CANopen communication protocol.
5. The control method of claim 2, wherein the STM32 main controller configures an SDO object of the motor driver according to the object dictionary, and then configures the motor driver through the SDO object to determine each operation mode of the motor.
6. A computer program implementing a method for controlling an STM 32-based rear wheel drive front wheel steering AGV according to any one of claims 1-5.
7. An information processing terminal implementing a method for controlling an STM 32-controlled rear wheel drive front wheel steering AGV according to any one of claims 1-5.
8. A computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform a method of controlling an STM 32-based controlled rear wheel drive front wheel steering AGV as claimed in any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911024699.4A CN110775155A (en) | 2019-10-25 | 2019-10-25 | STM32 control-based control method for rear wheel drive front wheel steering AGV |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911024699.4A CN110775155A (en) | 2019-10-25 | 2019-10-25 | STM32 control-based control method for rear wheel drive front wheel steering AGV |
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| CN110775155A true CN110775155A (en) | 2020-02-11 |
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| CN201911024699.4A Pending CN110775155A (en) | 2019-10-25 | 2019-10-25 | STM32 control-based control method for rear wheel drive front wheel steering AGV |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590970A (en) * | 2020-12-04 | 2021-04-02 | 北京星航机电装备有限公司 | Small-size automated guided vehicle structure |
| CN112723243A (en) * | 2020-12-04 | 2021-04-30 | 北京星航机电装备有限公司 | Automobile carrying AGV |
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| CN104159809A (en) * | 2012-03-08 | 2014-11-19 | 日产自动车株式会社 | Steering device |
| DE102015210283A1 (en) * | 2014-11-24 | 2016-05-25 | Hyundai Motor Company | STEERING CONTROL METHOD AND DEVICE FOR A STEER-BY-WIRE SYSTEM |
| CN106114617A (en) * | 2016-08-30 | 2016-11-16 | 北京华力兴科技发展有限责任公司 | Carry the rotating direction control method of car from walking and carry the steering control device of car from walking |
| CN110304139A (en) * | 2019-07-04 | 2019-10-08 | 北京华力兴科技发展有限责任公司 | Wheel steering control method, control device, more wheel walking arrangements and storage medium |
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2019
- 2019-10-25 CN CN201911024699.4A patent/CN110775155A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104159809A (en) * | 2012-03-08 | 2014-11-19 | 日产自动车株式会社 | Steering device |
| CN102941876A (en) * | 2012-11-23 | 2013-02-27 | 南京理工大学 | Unmanned vehicle steering system and control method thereof |
| DE102015210283A1 (en) * | 2014-11-24 | 2016-05-25 | Hyundai Motor Company | STEERING CONTROL METHOD AND DEVICE FOR A STEER-BY-WIRE SYSTEM |
| CN106114617A (en) * | 2016-08-30 | 2016-11-16 | 北京华力兴科技发展有限责任公司 | Carry the rotating direction control method of car from walking and carry the steering control device of car from walking |
| CN110304139A (en) * | 2019-07-04 | 2019-10-08 | 北京华力兴科技发展有限责任公司 | Wheel steering control method, control device, more wheel walking arrangements and storage medium |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590970A (en) * | 2020-12-04 | 2021-04-02 | 北京星航机电装备有限公司 | Small-size automated guided vehicle structure |
| CN112723243A (en) * | 2020-12-04 | 2021-04-30 | 北京星航机电装备有限公司 | Automobile carrying AGV |
| CN112590970B (en) * | 2020-12-04 | 2024-04-19 | 北京星航机电装备有限公司 | Small-size automated guided vehicle structure |
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Application publication date: 20200211 |