全向电动底盘可实现四轮独立驱动(4WD)和四轮独立转向(4WS),是未来非道路车辆发展的重要方向.电动轮转向角度的精密检测和准确控制对于全向电动底盘四轮独立转向(4WS)功能的实现至关重要.介绍了一种检测和控制电动轮旋转角度的新方法.采用绝对编码器检测电动轮的实际位置,由中央控制器PLC接收绝对编码器输入的格雷码并转换为标准二进制数,经计算得到电动轮的实际转角.通过与电动轮的目标转角相比较,由PLC根据比较结果控制电动轮的运动,再通过电磁离合器的配合,实现电动底盘转向角度的检测与控制.实验表明,这种检测和控制电动轮旋转角度的方法测量准确,控制灵敏,安全可靠,为旋转角度的测量和控制提供了一种行之有效的新方法.%Omnidirectional electric chassis has such functions as four wheel independent driving (4WD) and four wheel independent steering (4WS), which is an important developing fields for off-road vehicles. The precise detection and accurate control for the rotating angle is very important for the function of four wheel independent steering (4WS). A new method of detection and control for rotating angle is introduced. The actual position of electric wheel is measured by absolute encoder,then a kind of gray code is output to PLC by absolute encoder and is transferred to standard bi-nary code in PLC, As a result, the actual rotating angle can be obtained by a formula. According to the result of comparison of actual rotating angle and the target angle of electric wheel,the movement of electric wheel is correspond-ing controlled by PLC. With the help of electromagnetic clutch,the detection and control for the rotating angle of elec-tric chassis can be realized. Experimental results indicated that this method for measuring and controlling rotation angle is accurate,effective and reliable.
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