TY - GEN
T1 - Simulation and Design of Unmanned Ground Vehicle Hub Motor Drive Based on Multi-gear Parallel Reducer
AU - Dou, Yingdong
AU - Zhou, Kang
N1 - Publisher Copyright:
© Beijing HIWING Scientific and Technological Information Institute 2024.
PY - 2024
Y1 - 2024
N2 - Compared to traditional unmanned ground vehicles (UGV), hub motor driven UGV can remove most of the mechanical devices, and the control of the UGV becomes simple, which makes the UGV more reliable in all kinds of operational environments. In this paper, a new reduction hub motor drive structure is proposed, in which the reducer system uses a multi-gear parallel structure, and the power system uses multi-motor to simultaneously drive. At the same time, this paper also establishes a complete mechanical simulation model and control simulation model based on the principle of vehicle dynamics, field oriented control and other related theories, in order to verify the feasibility of the designing of the hub motor drive. The simulation results show that the load of the reducer system of the multi-gear parallel reduction hub motor drive is uniform, and the control of the power system is stable, fast and has a high degree of redundancy when compared to that of the conventional reduction hub motor drive. Meanwhile, the modelling and simulation methods in this paper provide new inspirations for optimizing the designing of the hub motor drive.
AB - Compared to traditional unmanned ground vehicles (UGV), hub motor driven UGV can remove most of the mechanical devices, and the control of the UGV becomes simple, which makes the UGV more reliable in all kinds of operational environments. In this paper, a new reduction hub motor drive structure is proposed, in which the reducer system uses a multi-gear parallel structure, and the power system uses multi-motor to simultaneously drive. At the same time, this paper also establishes a complete mechanical simulation model and control simulation model based on the principle of vehicle dynamics, field oriented control and other related theories, in order to verify the feasibility of the designing of the hub motor drive. The simulation results show that the load of the reducer system of the multi-gear parallel reduction hub motor drive is uniform, and the control of the power system is stable, fast and has a high degree of redundancy when compared to that of the conventional reduction hub motor drive. Meanwhile, the modelling and simulation methods in this paper provide new inspirations for optimizing the designing of the hub motor drive.
KW - Field Oriented Control
KW - Hub Motor Drive
KW - Multi-Gear Parallel Reducer
KW - Unmanned Ground Vehicle
UR - http://www.scopus.com/inward/record.url?scp=85192866373&partnerID=8YFLogxK
U2 - 10.1007/978-981-97-1103-1_29
DO - 10.1007/978-981-97-1103-1_29
M3 - Conference contribution
AN - SCOPUS:85192866373
SN - 9789819711024
T3 - Lecture Notes in Electrical Engineering
SP - 321
EP - 333
BT - Proceedings of 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023 - Volume 7
A2 - Qu, Yi
A2 - Gu, Mancang
A2 - Niu, Yifeng
A2 - Fu, Wenxing
PB - Springer Science and Business Media Deutschland GmbH
T2 - 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023
Y2 - 9 September 2023 through 11 September 2023
ER -