六轮独立驱动无人平台技术分析

Technical Analysis of Six-wheel Independent Drive Vehicle

以六轮独立驱动无人平台为分析对象,对轻型轮式地面无人平台的总体设计技术、行动推进技术、控制技术进行深入分析。以完成具体任务的平台为例,提出根据平台功能进行总体设计的设计流程,通过对行动系统悬架建立仿真模型,分析平台非簧载质量减少、路面行驶冲击对悬架设计的影响。通过对平台驱动功率的分析,得出单个电机具有的功率特性曲线。通过对控制技术的分析,分析基于d SAPCE的平台控制系统框架结构、控制流程。

The overall design technology,propulsion technology and control technology for light wheeled unmanned ground platforms are analyzed by taking a six-wheel independent drive vehicle. The design process of the overall design is presented according to the platform functions. A simulation model of suspension is established to analyze the effects of reduced unsprung mass and road surface impact on suspension design. The power characteristics of a single motor is obtained by analyzing the driving power of platform. The frame structure and control process of platform control system are discussed by analyzing the control technology.