| Because the in-wheel motor integrates the drive system and the braking system in the hub,the electric vehicle and mobile platform driven by the in-wheel motor independently have more structural designs and moving methods.A four-wheel independent drive vehicle requires the steering motor of the steering system to cooperate with the in-wheel motor to achieve turning.The mobile platform with wheelset structure realizes turning and straight-line driving only through wheelset differential control.Aiming at the problem that the dual-wheel-to-wheel-hub motor mobile platform is difficult to control during motion,this paper controls the movement of the dual-wheel-to-wheel-hub motor mobile platform by formulating a reasonable steering strategy and designing an appropriate basic driving algorithm.The main work are summarized as follows: Firstly,this paper builds the in-wheel motor simulation model by Matlab/Simulink,and the mobile platform vehicle model by CarSim,and establishes the Matlab and CarSim co-simulation modeling for the dual-wheel-to-wheel in-wheel motor mobile platform.And analyzing the four-wheel independent drive steering mode,it is concluded that the rear wheel pair and the front wheel pair are coupled with each other to realize the steering strategy of the front wheel pair as the active guide,the reverse motion steering strategy of the front and rear wheels,and the wedge motion steering strategy.At the same time,three steering strategies are simulated by the established co-simulation model,and it is concluded that these three steering strategies conform to the steering scheme of the mobile platform.Secondly,based on the above steering strategy,the dual PID coupling algorithm and the Gaussian process regression algorithm are selected as the underlying driving algorithm to realize the motion control of the dual wheel-to-wheel motor mobile platform.Finally,the dual-wheel-to-wheel-hub motor mobile platform is experimentally verified through fixed-point test and follow-up experiment.After using the camera to detect the target position in the experiment,the basic driving algorithm is used to realize the steering strategy to track the target object.By analyzing the path diagram of the dual-wheel-to-wheel-hub motor mobile platform,the fixed-point test and follow-up experiment of the two driving algorithms are summarized.The two algorithms can basically achieve the tracking target,but the dual-PID coupling algorithm has a faster initial response on the path,and the In the final stage,if the adjustment range is too large,which leads to a large error in the path deviation,the correction is made in time to achieve the tracking target.The Gaussian process regression algorithm has a serious "swing head" in the initial response of the path.In the middle path,the path is smoother than the dual PID coupling algorithm,and the deviation is smaller than that of the dual PID coupling algorithm in the final stage of the path,and the tracking goal is finally achieved. |
