Research On Skid Steering Design And Control Algorithm Of Six-wheel Unmanned Vechicle

Research in the field of battery technology,electric drives,controllers and other accessories continues to advance,which has contributed to the increase in the number of electric vehicles produced,with electric vehicles as the central research theme.With the introduction of automobiles,the electrification of automotive drives began.It is derived from the configuration of the central drive and has been upgraded to the new AWID.Vehicles with side turn are suitable for both military use and commercial use in off-road conditions because of their high maneuverability and maneuverability on extreme terrain and obstacles.However,due to the lack of mechanical transmission system and dynamic evaluation,the use of AWID technology in conjunction with the anti-skid system will improve the control coordination between the drives.Traditional steering gears are usually very complicated.Cars are heavy and have low energy efficiency.The use of in-wheel motors and the development of engine control technology have provided more opportunities for the development of steering technology for independent wheel drive systems,which has contributed to the rapid development of this technology.Regarding wheel torque distribution,the research on coordinated control of multi-mode skid and steering resistance during skidding is not perfect.In order to solve this problem,the main content of this paper is as follows.Firstly,it briefly analyzes the steering structure of various vehicles,including traditional steering structure,articulated steering structure and tracked vehicle steering structure.This introduces wheeled unmanned ground platforms at home and abroad;discusses the research status of wheeled unmanned ground vechicles.The research status of six-wheel independent drive unmanned ground platform skid steering is analyzed.Presents motion analysis of the skid steering vehicle is carried out.The installation and use of the engine on the wheel and car are compared;the general theory of steering slip is given,and the minimum traction required to start driving is introduced;the calculation of the motor torque and the speed of the turning radius are calculated.Presents six-wheel unmanned ground vehicle dynamics simulation using the MSC Adams program to evaluate the performance of combat vehicles;checked the vehicle's performance when crossing obstacles,driving on straight roads and uphill.The controls of traditional cars and electric cars are compared,and the main controllers used in vehicle driving strategies are discussed.Presents an algorithm for controlling the skid steering motion of a six-wheeled robot is introduced,and a schematic diagram of the joint modeling of Adams and Matlab/Simulink software is given;the strategy of a torque control algorithm for a six-wheeled platform is developed.Given the difficulties in distributing control in this type of vehicle,this article presents a torque vector control strategy for efficient and accurate real-time control distribution for an EV with 6WID(with independent six-wheel drive)skid steering vechicle.The strategy is divided into three main levels: the upper level of the controller,state estimation layer and the lower level of the controller.The upper level of the controller acts as a replacement for the conventional vehicle steering system and generates the desired driving instructions.A drive distribution module was proposed in the upper controller for coordination between the driving mode based on vehicle power and other conditions.State estimation layer receives data from the sensors and evaluates the various parameters required in other controllers.The lower level controller is responsible for the optimal control of the torque vector among the drives.