| The omnidirectional electric chassis studied in this paper is based on the Jilin Provincial Science and Technology Development Plan project "Animal Electric Chassis Development".The developed omnidirectional electric chassis uses four-wheel independent drive(4WDS)and four-wheel independent steering(4WIS)technology,using electromagnetic clutches and electric wheels to achieve steering.This paper mainly studies the structure,control strategy and control system design of omnidirectional electric chassis.First,the overall structural of the omnidirectional electric chassis is designed using the modular design concept,and the various modules of the omnidirectional electric chassis were introduced.In order to ensure the strength requirements of the main components of the omnidirectional electric chassis,ANSYS analysis software was used to analyze the finite element strength of the omnidirectional electric chassis frame,the inner and outer hub shaft,and the electromagnetic clutch meshing ring gear.Secondly,the differential steering control strategy of omnidirectional electric chassis is studied.Based on the analysis of various differential steering methods,the omnidirectional electric chassis employs forward and backward reverse differential steering,which can reduce the turning radius.Based on this,using Matlab/Simulink software to simulate and analyze the speed control of brushless DC motor.Thirdly,the control system of the omnidirectional electric chassis was designed,including the hardware design or selection and software design.The control system adopts programmable control PLC as the main controller,and cooperates with the motor controller,electromagnetic clutch,and angle encoder to complete the coordinated control of the omnidirectional movement and steering of the omnidirectional electric chassis.Finally,the omnidirectional movement and the four-wheel cooperating drive of the omnidirectional electric chassis were tested by real vehicle tests. |
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