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公开(公告)号：KR1020130069119A
公开(公告)日：2013-06-26
申请号：KR1020110136683
申请日：2011-12-16
Applicant: 국방과학연구소
Abstract: PURPOSE: An independent wheel control type multi-shaft steering device is provided to improve survivability, mobility, and energy efficiency of a combat vehicle. CONSTITUTION: An independent wheel control type multi-shaft steering device comprises composite steering devices(200a-200f), a driving control device(300), a driving operation device(400), and a detecting device(500). The composite steering device is mounted on each wheel of a vehicle. The driving operation device independently distributes a steering command inputted by the driving operation device to the composite steering device for the control. The driving operation device receives the steering command by a driver and transmits the steering command to the driving control device. The detecting device detects the state of the vehicle and the wheel. [Reference numerals] (200) Composite steering device; (210) Turning angle steering device; (220) Skid steering device; (230) Steering controller; (300) Driving control device; (310) Stability controller; (320) Upper controller; (330) Lower controller; (340) Slip controller; (350) Steering determining device; (400) Driver operation device; (410) Accelerating pedal; (420) Braking pedal; (430) Steering handle; (440) Sensor signal processor; (500) Sensor/state estimator; (510) Sensor; (520) State estimator; (600) Power supply device; (610) Low-power supply; (620) High-power supply
Abstract translation: 目的：提供独立的车轮控制型多轴转向装置，以提高作战车辆的生存能力，移动性和能源效率。 构成：独立的车轮控制型多轴转向装置包括复合转向装置（200a-200f），驱动控制装置（300），驱动操作装置（400）和检测装置（500）。 复合转向装置安装在车辆的每个车轮上。 驾驶操作装置将由驾驶操作装置输入的转向命令独立地分配给用于控制的复合转向装置。 驾驶操作装置由驾驶员接收转向指令，并向驾驶控制装置发送转向指令。 检测装置检测车辆和车轮的状态。 （附图标记）（200）复合转向装置; （210）转向转向装置; （220）滑移转向装置; （230）转向控制器; （300）驱动控制装置; （310）稳定控制器; （320）上控制器; （330）下控制器; （340）滑动控制器; （350）转向确定装置; （400）驾驶员操作装置; （410）加速踏板; （420）制动踏板; （430）转向把手; （440）传感器信号处理器; （500）传感器/状态估计器; （510）传感器; （520）状态估计器; （600）电源装置; （610）低电源; （620）大功率电源
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公开(公告)号：KR1020130069105A
公开(公告)日：2013-06-26
申请号：KR1020110136661
申请日：2011-12-16
Applicant: 국방과학연구소
Abstract: PURPOSE: A multi-shaft propulsion driving device is provided to improve mobility and survivability of a combat vehicle by independently controlling and directly mounting an electric motor of a high performance on a vehicle wheel. CONSTITUTION: A multi-shaft propulsion driving device comprises driving devices(200a-200f), a driving control device(300), a driver operating device(400), and a detecting device(500). A driving device is mounted on each vehicle wheel. The driving control device independently controls the driving devices of each wheel according to conditions of the wheels and a vehicle detected through the detecting device. The driver operating device receives a driving signal and a steering signal of a driver and transmits the signals to the driving control device. The detecting device comprises various sensors(510) and a state estimator(520) and detects the stated of the vehicle and the wheels. [Reference numerals] (200) Driving device; (210) In-wheel motor; (220) Composite braking device; (230) Operating control device; (300) Driving control device; (310) Stability controller; (320) Upper controller; (330) Lower controller; (340) Slip controller; (400) Driver operating device; (410) Accelerating pedal; (420) Braking pedal; (430) Steering handle; (440) Sensor signal processor; (500) Sensor/state estimator; (510) Sensor; (520) State estimator; (600) Power supply device; (610) Low-power supply; (620) High-power supply
Abstract translation: 目的：提供一种多轴推进驱动装置，通过独立地控制并直接将高性能的电动机直接安装在车轮上，从而提高作战车辆的行驶能力和生存能力。 构成：多轴推进驱动装置包括驱动装置（200a-200f），驱动控制装置（300），驱动器操作装置（400）和检测装置（500）。 驱动装置安装在每个车轮上。 驱动控制装置根据通过检测装置检测到的车轮和车辆的状况独立地控制各车轮的驱动装置。 驾驶员操作装置接收驾驶员的驾驶信号和转向信号，并将该信号发送到驾驶控制装置。 检测装置包括各种传感器（510）和状态估计器（520），并检测车辆和车轮的状态。 （附图标记）（200）驱动装置; （210）轮毂电机; （220）复合制动装置; （230）操作控制装置; （300）驱动控制装置; （310）稳定控制器; （320）上控制器; （330）下控制器; （340）滑动控制器; （400）驾驶员操作装置; （410）加速踏板; （420）制动踏板; （430）转向把手; （440）传感器信号处理器; （500）传感器/状态估计器; （510）传感器; （520）状态估计器; （600）电源装置; （610）低电源; （620）大功率电源
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公开(公告)号：KR101343419B1
公开(公告)日：2013-12-20
申请号：KR1020110136661
申请日：2011-12-16
Applicant: 국방과학연구소
Abstract: 본발명의독립휠제어가가능한다축추진구동장치는, 차량에장착된각각의차륜에구비되는인휠모듈형구동장치; 상기각각의차륜에구비된상기각각의구동장치를독립적으로제어하는주행제어장치; 차량및 각각의차륜의상태를감지하는감지장치;를포함하고, 상기주행제어장치는상기감지장치를통해감지한차량및 각각의차륜의상태에따라상기각각의차륜에구비되는구동장치를독립적으로제어하는것을특징으로한다.
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公开(公告)号：KR101311226B1
公开(公告)日：2013-09-24
申请号：KR1020110136683
申请日：2011-12-16
Applicant: 국방과학연구소
Abstract: 본 발명의 독립휠 제어형 다축 조향장치의 일 실시예는, 차량에 장착된 각각의 차륜에 구비되는 복합조향장치; 상기 각각의 차륜에 구비된 상기 각각의 복합조향장치를 독립적으로 제어하는 주행제어장치; 운전자에 의해 조향명령이 입력되는 운전자운용장치; 및 차량 및 각각의 차륜의 상태를 감지하는 감지장치;를 포함하고, 상기 주행제어장치는 상기 운전자운용장치에 의해 입력된 조향명령을 상기 감지장치를 통해 감지한 차량 및 각각의 차륜의 상태에 따라 상기 각각의 차륜에 구비되는 복합조향장치에 독립적으로 분배하여 제어하는 것을 특징으로 한다.
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