KR20140100772A - Unmanned Ground Remote Vehicle and Restart to be Pushed Against Method thereof - Google Patents

Abstract

The unmanned remote vehicle of the present invention is provided with a braking control device. When the braking control device tries to stop the vehicle through a braking system when required, By executing a series of braking control to change the control mode of the motor from the torque mode to the speed mode immediately after the speed mode is changed to the torque mode, Thereby minimizing or preventing vehicle jolt.

Description

Technical Field [0001] The present invention relates to an unmanned remote vehicle and a method for preventing the unmanned remote vehicle from restarting the vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned remote vehicle, and more particularly, to an unmanned remote vehicle and a method of preventing the unmanned vehicle from being restarted when an unmanned vehicle in which an electric motor is used as a power source is prevented from bouncing and restarting at an incline .

In general, UGVs such as unmanned or remotely controlled EVs or HEVs use electric motors as power sources, and braking is performed through speed control of the motors during vehicle braking.

Usually, the speed control includes braking control, and the braking performance when the vehicle is inclined or at high speed is realized by stopping the vehicle by applying the braking force to the braking command of the braking controller.

In this braking state, the motor is in the zero torque state only when the vehicle is stopped by the braking force. In order to restart the vehicle again, the vehicle speed can be increased by releasing the braking force and then torqueing the motor.

However, if the motor speed control is performed for the braking and starting of the unmanned vehicle, it is very likely that the vehicle slip occurs when the braking operation is restarted after the braking operation.

Korean Patent Publication No. 10-2012-0121312 (November 5, 2012)

This patent document shows an example of a technique that prevents motor reverse rotation by providing power to the motor by the PWM signal in conjunction with motor power supply control, and in particular, prevents the vehicle from being skidded on the ramp.

However, in the above-mentioned patent document, since the anti-skid prevention of the ramp is performed by the anti-reverse rotation control of the motor, the effect is insufficient for preventing the ramp from being generated when the motor restarts from the zero torque state again.

For example, when the ramp is restarted, the motor must be given torque to release the braking force from the zero torque state of the motor and to increase the speed of the motor. However, in this state, the vehicle wheel is switched to the free state And the vehicle is forced to be pushed down from the ramp due to the time gap for re-torqueing the vehicle wheel.

In view of the above, the present invention, which has been invented in view of the above, controls the motor to maintain the zero speed state even if the braking hydraulic pressure disappears due to the inclined braking and restarting of the unmanned vehicle using the electromagnetic motor as a power source, An object of the present invention is to provide an unmanned remote vehicle capable of minimizing or preventing vehicle bump in a ramp by braking force, and a method of preventing the vehicle from being restarted.

In order to achieve the above object, the unmanned remote vehicle of the present invention includes an electronic motor that generates driving power of the vehicle and is controlled in speed by motor speed control, motor torque control, and motor speed control for maintaining zero speed, A braking controller for operating the mechanical hydraulic brake during braking of the vehicle; a servo controller for controlling the electromagnetic motor; and a traveling controller for operating as a top controller of the servo controller, using information feedback of the electromagnetic motor and the braking controller A brake control device; Is included.

The braking controller performs a direct braking command to the electronic motor at the time of emergency stop of the vehicle.

In order to accomplish the above object, there is provided a method for preventing a restart of an unmanned remote vehicle, including: a slope braking execution mode in which a vehicle in operation is braked by a motor speed control and a stop state is maintained by a braking pressure of the hydraulic brake;

An inclined braking holding mode in which the vehicle in a stopped state under the braking pressure is controlled to a torque control mode in which zero torque is maintained;

In the torque control mode control state, it is continuously detected whether or not the motor speed is lower than a predetermined value. When the motor speed is lowered to a predetermined value or lower, a motor speed control mode for maintaining a zero speed is performed, A slope braking confirmation mode in which the braking is maintained;

A normal driving mode in which the motor speed control mode is released from the zero speed maintenance when the braking hydraulic pressure of the vehicle is released after the braking hydraulic pressure is released; As shown in FIG.

The switching of the torque control mode is performed when the pressure of the hydraulic brake is changed, and the switching of the motor speed control mode for maintaining the zero speed is performed when the vehicle speed changes.

The present invention minimizes or prevents the vehicle braking due to the motor brake force even when the braking hydraulic pressure is extinguished, thereby preventing the braking of the unmanned vehicle using the electronic motor as the power source and preventing the braking at the time of resumption.

In addition, the present invention has the effect that minimization or prevention of vehicle jogging on a ramp is realized by motor brake force through maintaining the speed of '0', so that it can be performed without additional hardware.

In addition, the present invention can prevent the unmanned remote vehicle from being thrown even when the vehicle is restarted after the braking of the ramp, thereby greatly enhancing stability even in an unmanned remote vehicle where the driver can not respond to an unexpected situation such as a collision.

FIG. 1 is a configuration diagram of an unmanned remote vehicle according to the present invention. FIG. 2 is a flowchart illustrating an operation for preventing restart of an unmanned remote vehicle according to the present invention. It is in the operating state.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which illustrate exemplary embodiments of the present invention. The present invention is not limited to these embodiments.

1 shows a configuration of an unmanned remote vehicle according to the present embodiment.

As shown, the unmanned remote vehicle includes a braking control device, which includes an electromagnetic motor 100 for generating driving power, a braking controller 200 for operating a mechanical hydraulic brake to control the braking of the vehicle, A traveling controller 300 operating as a top-level controller, and a servo controller 400 operating as a bottom controller.

The travel controller 300 also controls the brake controller 200 and the electronic motor 100 using the servo controller 400. To this end, the travel controller 300 controls the electromagnetic motor 100 and the braking A control circuit is configured to receive feedback of the information of the controller 200 at all times.

If it is determined that the braking is necessary, the travel controller 300 stops the vehicle by giving an instruction to the braking controller 200 immediately. However, when the vehicle is in an emergency stop state, the brake controller 200 directly instructs the electromagnetic motor 100 to brake, thereby securing safety from the emergency stop situation.

Particularly, the travel controller 300 controls the zero speed state of the electronic motor 100 when the unmanned remote vehicle stops braking hydraulic pressure when the unmanned remote vehicle is restarted after stopping at the slope, And performs control logic that minimizes or prevents vehicle skidding at the ramp with the motor brake force.

This control logic is implemented as an operation flow of resumption prevention of the unmanned remote vehicle as shown in Fig.

In S10, the unmanned remote vehicle enters a slope. In this state, the travel controller 300 controls the electronic motor 100 through the braking controller 200 as shown in FIG. 3, so that the speed of the motor is controlled Motor speed control mode is maintained.

In S20, a braking command is given to stop the unmanned remote vehicle entering the slope. In this state, the driving controller 300 gives a control command to the braking controller 200 as shown in FIG.

In step S30, the mechanical hydraulic brake is operated so that braking is performed in accordance with the braking command. In step S40, it is checked whether the braking pressure of the mechanical hydraulic brake is equal to or higher than a predetermined pressure. State.

In this state, the brake controller 200, which receives the control command of the travel controller 300, is operated by operating and controlling a mechanical hydraulic brake (not shown) as shown in FIG. At this time, the travel controller 300 sends a control command to the electromagnetic motor 100 through the servo controller 400 so that the motor torque is controlled to the torque zero state. However, the electromagnetic motor 100 is in the torque control mode state The motor speed can be controlled to be decelerated.

That is, the torque control mode is changed in the speed control mode by checking the pressure of the mechanical brake.

Meanwhile, S60 is a process in which braking is maintained by braking with a motor brake even when the motor speed is lowered below a set value by continuously detecting whether or not the motor speed is lowered below a predetermined value in the motor torque control mode.

3, the travel controller 300 sends a control command to the servo controller 400 to switch the motor torque control mode to the motor speed control mode, from which the electromagnetic motor 100 switches from zero to zero, It is possible to switch to a state in which speed control is possible.

For example, when the motor-torque control mode is switched to the motor-speed control mode so that the electromagnetic motor 100 is in a state in which zero speed control is possible, even if the braking pressure of the vehicle stopped at the slope is released, So that the phenomenon of the vehicle being pushed by the slope can be minimized or completely prevented.

That is, the speed control mode for zero speed control is changed in the torque control mode by checking the vehicle speed.

In step S70, the braking hydraulic pressure of the vehicle is released from the slope, and the braking hydraulic pressure is released again. In this state, the traveling controller 300 sends a control command to the servo controller 400 again, The motor speed control mode switches back from zero speed control to normal speed control.

Therefore, S80 is a state in which the vehicle is stopped and then restarted at a slope. In this state, even if the vehicle is accelerated, the vehicle can be moved in the same manner as the conventional speed mode, and in particular, without moving backward.

As described above, the unmanned remote vehicle according to the present embodiment is provided with the braking control device, and when the braking control device tries to stop the vehicle through the braking system, if necessary, on the slope or on the ground, it checks a certain pressure of the hydraulic brake The control mode of the motor is changed from the existing speed mode to the torque mode, and a series of braking control is executed again to check the speed below the predetermined speed and immediately change the control mode of the motor from the torque mode to the speed mode , The motor braking force can minimize or prevent vehicle skidding at the ramp.

100: Electronic motor 200: Braking controller
300: Travel controller 400: Servo controller

Claims (5)

An electronic motor which generates driving power of the vehicle and whose speed is controlled by motor speed control, motor torque control and motor speed control for maintaining zero speed,
A braking controller for actuating a mechanical hydraulic brake during braking of the vehicle,
A servo controller for controlling the electromagnetic motor;
A braking control device comprising a control using information feedback of the electronic motor and the braking controller and a running controller operating as a top controller of the servo controller;
And an unmanned remote vehicle.
The unattended remote vehicle of claim 1, wherein the braking controller performs a direct braking command to the electronic motor when the vehicle is in an emergency stop.
An inclined braking execution mode in which the vehicle under running is braked by the motor speed control and the stop state is maintained by the braking pressure of the hydraulic brake;
An inclined braking holding mode in which the vehicle in a stopped state under the braking pressure is controlled to a torque control mode in which zero torque is maintained;
In the torque control mode control state, it is continuously detected whether or not the motor speed is lower than a predetermined value, and when the motor speed is lowered to a predetermined value or less, a motor speed control mode for maintaining the zero speed is performed, A slope braking confirmation mode in which the braking is maintained;
A normal driving mode in which the motor speed control mode is released from the zero speed maintenance when the braking hydraulic pressure of the vehicle is released after the braking hydraulic pressure is released;
Wherein the unmanned remote vehicle is operated in the following manner.
The method according to claim 3, wherein the switching of the torque control mode is performed when the pressure of the hydraulic brake is changed.
4. The method of claim 3, wherein the switching of the motor speed control mode for maintaining the zero speed is performed when the vehicle speed changes.

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