CN-122008728-A - Spoke variable structure driving wheel for amphibious vehicle and control method

CN122008728ACN 122008728 ACN122008728 ACN 122008728ACN-122008728-A

Abstract

The invention discloses a spoke variable structure driving wheel for an amphibious vehicle and a control method. The driving wheel comprises wheels, a power source, paddles, an angle adjusting mechanism, an angle adjusting driving unit and a vehicle-mounted controller. The vehicle-mounted controller intelligently recognizes that the vehicle is in a land or water mode by fusing multi-source sensor information such as water depth, vehicle speed, gesture, steering and the like, and controls the vehicle to travel according to a preset control strategy. In the underwater floating mode, an adjusting mechanism is triggered to drive all the blades to rotate to a target angle calculated according to a control strategy and locked, so that the spiral curved surface of the blades works as a propeller blade. The vehicle-mounted controller can dynamically fine tune the blade angle according to the real-time navigation parameters so as to optimize the underwater propulsion efficiency and steering maneuverability. The invention enables the driving wheel to have the functions of high-efficiency land driving and flexible water propulsion through intelligent mode switching and self-adaptive control.

Inventors

WANG JUNNIAN
YANG HUI
LIU YUXI
LIU YAOQI
WANG YITONG
JIANG HE
ZHANG KAI
ZHOU ZIDONG

Assignees

吉林大学

Dates

Publication Date: 20260512
Application Date: 20260416

Claims (10)

1. A spoke-changing structure driving wheel for an amphibious vehicle and a control method, characterized in that the driving wheel comprises: The mechanical execution unit comprises a wheel, a power source, a blade, an angle adjusting mechanism and an angle adjusting driving unit, wherein the wheel consists of a wheel hub, a spoke, a rim and a tire, the power source is used for providing driving force for the wheel, the blade is arranged on the spoke, the angle adjusting mechanism is used for synchronously adjusting the working angle of the blade, and the angle adjusting driving unit is used for providing driving force for the angle adjusting mechanism; The sensing unit comprises a water depth sensor, a vehicle speed sensor, an accelerator pedal sensor, a steering angle sensor, a yaw angle sensor and a blade angle sensor, and is respectively configured to acquire water depth information and vehicle speed information of vehicle running environment information in real time, acquire power demand information, steering angle information and yaw angle information of vehicle running posture information in real time and acquire deflection angle information of the blade in real time; the control unit is connected with the mechanical execution unit and the sensing unit through a communication bus; The control unit is internally stored with a mode switching program for identifying the running environment working condition of the vehicle, a running control program for controlling the driving wheel to drive the vehicle and actively regulating the mechanical execution unit, and a spoke variable structure control method for the amphibious vehicle, wherein: the mode switching program is used for identifying that the vehicle is in a land driving mode or a floating navigation mode in water at present; The advancing control program is used for generating a corresponding driving control instruction and a corresponding blade target angle control instruction; The control unit sends a control instruction to the mechanical execution unit according to the control method so as to control the power source to drive the wheels on two sides at constant speed or at differential speed, and controls the angle adjustment driving unit to drive the angle adjustment mechanism to synchronously adjust all paddles of the wheels to the target angles, so that high-efficiency driving running on land or flexible floating running in water is realized.
2. A spoke-changing structure driving wheel for an amphibious vehicle and a control method according to claim 1, wherein the angle adjusting mechanism is capable of synchronously driving all the paddles to rotate around their radial spoke axes, the angle adjusting mechanism comprising: The wheel end of each connecting rod is connected with one blade through a ball hinge, the body end of each connecting rod is connected with the disc-shaped piece through the ball hinge, when the angle adjusting driving unit drives the push-pull ring to swing, the push-pull ring generates a certain angle along the outer surface of the outer ball bearing through the bearing assembly, and then deflects along the outer surface of the bearing assembly, so that all the blades do not rotate along with the respective wheel rotation angles of the connecting rods, and the dynamic rotation angles of the wheels are not realized along with the respective wheel rotation angles of the spokes by driving the connecting rods.
3. The spoke variable structure driving wheel for the amphibious vehicle and the control method thereof according to claim 1 are characterized in that the angle adjusting driving unit comprises a group of trapezoidal screw nut mechanisms, a driving motor for driving a trapezoidal screw and a shell, the trapezoidal screw nut mechanisms have a self-locking function, the driving motor is fixedly arranged on a steering knuckle, an output shaft of the driving motor is fixedly connected with a vehicle body end of the screw through a coupling, and the shell is fixedly arranged on the steering knuckle.
4. The spoke variable structure driving wheel for the amphibious vehicle and the control method thereof according to claim 1 are characterized in that the blade is of a clamping piece type helical blade structure and consists of a first blade and a second blade, the first blade and the second blade are fixedly connected through bolts and nuts, the blades can rotate around the axis of the spoke after being installed, and the whole blade is spiral; When the mode switching program identifies that the vehicle is in a land driving mode, the generated blade target angle control instruction is used for adjusting all blades to a fixed included angle ; When the mode switching program identifies that the vehicle is in the underwater floating mode, the generated blade target angle control instruction is used for dynamically adjusting the blade angle along with the rotation phase of the wheel, namely, when the blade rotates to the highest point, the angle is adjusted to When the blade rotates to the lowest point, the angle is adjusted to ; Wherein, the The said The absolute angle of the tangent line of the central point of the intersection line of the end surface of the first blade close to the hub and the second blade joint surface relative to the end surface of the hub.
5. A spoke construction drive wheel for an amphibious vehicle and a control method according to claim 1, wherein the mode switching program is configured to perform the following functions: continuously reading water depth information and vehicle speed information acquired by a water depth sensor and a vehicle speed sensor; Judging whether the vehicle is in a land driving mode or a floating navigation mode according to the water depth information and the vehicle speed information, wherein the method specifically comprises the following steps: if the water depth continuously exceeds the water depth threshold value and the vehicle speed is lower than the water speed threshold value, triggering the switching of the floating mode in water; if the water depth is lower than the water depth threshold value, triggering the switching to the land driving mode; And outputting the judgment result to the travel control program.
6. A spoke construction driving wheel for an amphibious vehicle and a control method according to claim 1, wherein the travel control program is configured to execute the following control strategy according to a mode judgment result outputted by the mode switching program: In the land running mode, the driving control instruction controls the wheel rotation direction to be adaptive to the running direction of the vehicle, and the blade target angle control instruction controls the blade rotation angles of the left wheel and the right wheel to be consistent; In the underwater floating model, when the vehicle runs straight, the driving control instruction is navigational speed control, and the blade target angle control instruction is blade deflection direction control of the left wheel and the right wheel which are opposite and have equal angle; In the underwater floating model, when the vehicle turns or turns around, the driving control instruction is wheel differential compensation control or controls the rotation directions of left and right wheels to be opposite, and the blade target angle control instruction is blade differential angle compensation control; the travel control program is further configured to perform the following control: controlling the speed, namely controlling the rotation speeds of the left wheel and the right wheel to be the same based on the difference value between the actual speed and the target speed of the vehicle, rotating in the direction of generating the thrust force which is the same as the advancing direction, and dynamically adjusting the output torque of the driving wheel so as to realize the closed-loop control of the speed; the differential compensation control of the wheels comprises the steps of generating differential compensation instructions for the left driving wheel and the right driving wheel based on the actual yaw rate of the vehicle and the target yaw rate obtained according to the steering instructions in the running gesture information; And blade differential angle compensation control, namely generating differential angle compensation instructions for a left and right side angle adjustment driving unit of the vehicle based on the actual yaw rate of the vehicle and the target yaw rate obtained according to the steering instructions in the running gesture information, and controlling the deflection angles of the left and right side driving wheel blades of the vehicle to be opposite according to the differential angle compensation instructions, wherein the target deflection angles of the left and right side driving wheel blades of the vehicle are unequal so as to assist the vehicle to steer on the water surface.
7. A wheel disc variable structure driving wheel for an amphibious vehicle and a control method according to claim 6, wherein when the vehicle is of a distributed driving architecture, i.e. each wheel is driven by an independent power source, the control method is specifically executed as follows: Invoking a water depth sensor, a vehicle speed sensor, an accelerator pedal sensor, a steering angle sensor and a yaw rate sensor in a sensing unit, and continuously reading vehicle running environment information and vehicle running posture information, wherein the environment information comprises water depth information and vehicle speed information, the vehicle running posture information comprises power demand information, steering angle information and yaw rate information, the vehicle running environment information is transmitted to a mode switching program, and the vehicle running posture information is transmitted to a running control program; A mode switching program is called, the mode switching program judges the running mode of the current vehicle in real time according to the vehicle running environment information read by the sensing unit, and the judging result is transmitted to a running control program; The method comprises the steps of calling a traveling control program, according to a mode judgment result output by a received mode switching program and vehicle running posture information read by a sensing unit, identifying the intention of a driver in real time, calling a control strategy to generate a driving control instruction and a blade target angle control instruction, wherein when the steering or turning around is performed in a floating mode in water in the control strategy, mainly calling wheel differential compensation control to generate rotation speed compensation instructions of left and right wheels, enabling the left and right wheels to rotate in the same direction at different rotation speeds or rotate reversely at the same rotation speed, and enabling two sides to generate thrust with different magnitudes so as to form a required steering moment; after the instruction is executed, a blade angle sensor in the sensing unit is called to read the deflection angle information of the blade, and the deflection angle information is continuously fed back to the mode switching program and the advancing control program to form closed-loop control.
8. The wheel disc variable structure driving wheel for amphibious vehicle and control method according to claim 6, wherein when the vehicle is of a centralized single motor driving architecture, namely the whole vehicle is driven by a single power source, the left wheel and the right wheel are mechanically connected through a differential mechanism, the control method is specifically implemented by the following steps: Invoking a water depth sensor, a vehicle speed sensor, an accelerator pedal sensor, a steering angle sensor and a yaw rate sensor in a sensing unit, and continuously reading vehicle running environment information and vehicle running posture information, wherein the environment information comprises water depth information and vehicle speed information, the vehicle running posture information comprises power demand information, steering angle information and yaw rate information, the vehicle running environment information is transmitted to a mode switching program, and the vehicle running posture information is transmitted to a running control program; A mode switching program is called, the mode switching program judges the running mode of the current vehicle in real time according to the vehicle running environment information read by the sensing unit, and the judging result is transmitted to a running control program; The method comprises the steps of calling a traveling control program, identifying the intention of a driver in real time according to a mode judging result output by a received mode switching program and vehicle running posture information read by a sensing unit, and calling a corresponding control strategy to generate a driving control instruction and a blade target angle control instruction, wherein when the control strategy turns or turns in a water floating mode, a blade differential angle compensation control strategy is mainly called because a centralized single motor driving cannot independently control the rotating speeds of left and right wheels, a blade differential angle instruction of the left and right wheels is generated, and the deflection angles of blades on two sides are unequal, so that thrust with unequal magnitudes is generated to form a required turning moment; after the instruction is executed, a blade angle sensor in the sensing unit is called to read the deflection angle information of the blade, and the deflection angle information is continuously fed back to the mode switching program and the advancing control program to form closed-loop control.
9. A spoke-changing structure driving wheel for an amphibious vehicle and a control method according to claim 7 or 8, wherein the control method further has the function of monitoring the driving current and position feedback of the angle-adjusting driving unit driving motor during execution of blade angle adjustment, comprising: if the abnormal resistance or the position deviation is detected to continuously exceed the safety threshold, judging that the adjustment is blocked, and executing a safety strategy, wherein the safety strategy comprises stopping the adjustment, sending out an alarm or attempting to restore to a safety angle, and the safety angle is the target angle of the blade when the vehicle is in the land running mode.
10. An amphibious vehicle comprising a spoke-change drive wheel for an amphibious vehicle as claimed in any one of claims 1 to 9 and a control method.

Description

Spoke variable structure driving wheel for amphibious vehicle and control method Technical Field The present disclosure relates to the technical field of amphibious vehicles, and in particular, to a blade angle adjustable driving wheel for an amphibious vehicle integrating an environmental awareness and intelligent decision control system. Background Traditional water propulsion solutions for amphibious vehicles rely mainly on externally hung attachments. The main stream mode is to install an independent propeller or water jet propulsion pump at the rear part or at two sides of the vehicle body. The scheme can provide effective thrust, but has the following common defects that an independent driving system and a transmission mechanism are added, so that the whole vehicle is complex in structure, heavy and occupied space, and meanwhile, the control logic of a power system for switching between land and water modes is complex, so that higher requirements are provided for the integration and control of the whole vehicle. In order to omit an external propeller, a highly integrated idea appears that the propulsion function is directly integrated to the wheel. For example, there are proposals to fixedly mount a paddle blade on a spoke of an existing wheel. However, such integrated solutions, while simplifying the system, often have significant limitations in that the fixed blades or auxiliary wheels present additional air resistance, weight and may affect safety when traveling on land, and at the same time they lack the ability to actively adjust their own state according to the amphibious environment, failing to achieve optimal performance between the two modes. In summary, neither the plug-in propeller nor the primary spoke integrated solution is ideal for solving the contradiction between "high integration", "mode adaptation" and "full operating mode performance optimization". In particular, a truly integrated solution is still lacking that can enable the wheels to actively and intelligently change the shapes of the wheels in amphibious environments, so that the wheels can keep low resistance and high efficiency when traveling on land and can be flexibly converted into a high-efficiency propulsion mechanism when sailing on water. Disclosure of Invention The invention aims to overcome the defects of the prior art and provides an intelligent and self-adaptive integrated amphibious driving wheel solution. The core is that the mechanical actuating mechanism is deeply integrated with a set of advanced multi-mode intelligent control system. In order to achieve the above purpose, the invention adopts the following technical scheme: A spoke variable structure driving wheel for an amphibious vehicle and a control method are characterized by comprising the following steps: The mechanical execution unit comprises a wheel, a power source, a blade, an angle adjusting mechanism and an angle adjusting driving unit, wherein the wheel consists of a wheel hub, a spoke, a rim and a tire, the power source is used for providing driving force for the wheel, the blade is arranged on the spoke, the angle adjusting mechanism is used for synchronously adjusting the working angle of the blade, and the angle adjusting driving unit is used for providing driving force for the angle adjusting mechanism; The sensing unit comprises a water depth sensor, a vehicle speed sensor, an accelerator pedal sensor, a steering angle sensor, a yaw angle sensor and a blade angle sensor, and is respectively configured to acquire water depth information and vehicle speed information of vehicle running environment information in real time, acquire power demand information, steering angle information and yaw angle information of vehicle running posture information in real time and acquire deflection angle information of the blade in real time; The control unit is in communication connection with the mechanical execution unit and the sensing unit, and a mode switching program for identifying the running environment working condition of the vehicle, a running control program for controlling the driving wheel to drive the vehicle and actively regulating the mechanical execution unit and a spoke variable structure control method for the amphibious vehicle are stored in the control unit. The wheel specifically comprises a hub, a spoke, a rim and a tire. The wheel hub inner circle passes through the wheel hub bearing to be installed in knuckle tip, and outer lane and spoke, rim are integrated into one piece structure, spoke circumference equipartition between wheel hub and rim, the spoke is cylindrically for install the paddle. The inner ring of the hub is provided with spline grooves in transmission connection with the half shafts for transmitting driving torque. The power source for providing driving force for the wheels adopts a wheel edge driving mode and is fixedly arranged on the side of a suspension system or a frame, the half shaft passes through the inner