Research Of 4wd Electric Planetary Wheeled Vehicle And Develop Of Model

Farmland ground situation is complex, which has soft soil. Vehicles often encounter ditches, climb the ridge and cross muddy ground when they work in the field. The job requires a good vehicle traffic ability and off-road performance. In the field, wheeled and tracked vehicles are more applied and they all have many problems. Study on obstacle performance of walking mechanism has important significance to improving vehicle traffic ability in complex field.With the purpose to research improving novel obstacle-crossing walking mechanism, this thesis carries the research around its control and structure. This paper applies electronic differential technology and designs an articulated frame. Finally the model of the vehicle is made out. The specific works is as follows:According to the analyses of the current situation and future development of vehicle traveling mechanism and electronic differential at home and abroad, this paper fixes the research background and design target.This paper designs overall program of planetary wheeled vehicle. According the design target and through analysis and comparison, four-wheel drive program is adopted and an articulated frame is applied. According to Ackermann-Jeantand model proposes wheeling model of four-wheel drive articulated vehicle and determines the research direction electronic differential strategy.The design of motor drive and control system is key part of the electronic differential system. The control principle and hardware design of the motor is explained. The speed of motor is calculated which is related to the duty cycle of PWM. A single chip STM32F103ZET6 is used as the control chip.According to the differential algorithm for electric vehicle, dynamic equations of the motor and functions are analyzed. Then this paper makes the control strategy of vehicle.After the theoretical analysis and design, the model of planetary wheeled vehicle is designed and made. This paper mainly describes mechanical system and electrical system of the model.Finally, this paper tests and verifies functions of the model. The actual performance indices of the model are reached through several tests. The result shows that drivingperformance, the obstacle-crossing ability of this model meets the design requirements.