Three-steering-wheel control algorithm

A control algorithm and steering wheel technology, applied in non-electric variable control, control/regulation systems, two-dimensional position/channel control, etc., can solve problems such as rigid pulling and failure, and achieve the effect of solving problems caused by rigid pulling

Inactive Publication Date: 2021-06-11
江苏亿控智能装备有限公司
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The electric remote control car used in some specific places is a three-wheeled model, and the chassis shape is an equilateral triangle. Because the equilateral triangle is stable, the system is prone to rigid pull and cause failure.

Method used

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Embodiment approach

[0081] As an embodiment of the present invention, refer to figure 2 , the tricycle mode 101 includes Formula 101, Formula 102, Formula 103, Formula 104, Formula 105, Formula 106, and Formula 107, as follows:

[0082] Formula 101:

[0083] Formula 102:

[0084] Formula 103:

[0085] Formula 104:

[0086] Formula 104:

[0087] Formula 105:

[0088] Formula 106:

[0089] As an embodiment of the present invention, refer to figure 2 , the two-wheel differential mode 102 includes formula 111, formula 112, formula 113, formula 114 and formula 115, as follows:

[0090] Formula 111:

[0091] Formula 112:

[0092] Formula 113:

[0093] Formula 114:

[0094] Formula 115:

[0095] As an embodiment of the present invention, υ 2 and υ 3 is calculated as follows:

[0096] According to formula 106, formula 107, formula 111 and formula 115:

[0097] Formula 121:

[0098] Formula 122:

[0099] From Equation 121 and Equation 122:

[0100] Formula ...

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Abstract

The invention discloses a three-steering-wheel control algorithm, which is used for controlling a tricycle body of an electric remote control tricycle to run along a specified path, a chassis of the tricycle body is in the shape of an equilateral triangle, a first steering wheel, a second steering wheel and a third steering wheel are installed at each endpoint of the equilateral triangle, and the steering wheels are of a walking and steering integrated structure. The control algorithm comprises a centripetal motion model, an oblique motion model and an in-situ rotation model, wherein the centripetal motion model is used for enabling the tricycle body to walk along a straight line, the oblique motion model is used for enabling the tricycle body to walk along an oblique line, and the in-situ rotation model is used for adjusting the driving angle of the tricycle body. By changing the walking speed and steering angle of the first steering wheel, the second steering wheel and the third steering wheel, omni-directional movement of the tricycle body is achieved, and in the movement process of the tricycle body, mutual cooperation and mutual assistance work of the first steering wheel, the second steering wheel and the third steering wheel under rigid connection is achieved through physical mathematical equations.

Description

technical field [0001] The invention relates to the technical field of electric remote control tricycle navigation, in particular to a control algorithm for three steering wheels. Background technique [0002] With the emergence of electric equipment, the labor force has been greatly reduced. From the previous multi-person human trolley, it has gradually become an electric remote control car; the control model has changed from two-wheel differential to single steering wheel to four-wheel differential to double steering wheel to more power. Wheels, power from previous manpower to diesel power to mobile power to batteries. [0003] The electric remote control car used in some specific places is a tricycle model, and the chassis shape is an equilateral triangle. Since the equilateral triangle has a stable property, the system is prone to rigid pull and cause failure. Contents of the invention [0004] The purpose of the present invention is to provide a three-rudder wheel co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D2201/02
Inventor 李蜜陈检
Owner 江苏亿控智能装备有限公司
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