Smart Car Learning (18)--Motor learning

One, C car motor selection 1, Summary:

Because C car in the four-wheeler advantage is that there are two of motors, can be active differential, the disadvantage is that the motor is too weak .... So how to choose the motor, is a problem of money, the motor a little more, it is better to choose, but C car motor run more will become very weak and weak. So get your money ready.

2. Selection Method:

(1) The use of constant current source, with the single-chip microcomputer program, test, the corresponding voltage of the current and speed, the general sampling 10 points can be, positive and negative turn to

(2) using Matlab for correlation fitting (with voltage and current as input), the speed of the output, to obtain CNT = A * V + b * I in A and B parameters (both positive and negative).

(3) then select the motor according to the parameters. When the car forward, the left rear wheel counterclockwise turn, right rear wheel clockwise rotation, so select the time to correspond, do not blindly select.

(4) Finally, a simple version of MATLAB to select the motor code

Clc,clear,close All%Deposit Data Length Datalen=Ten;%deposit data, x internal resistance y current Z synthetic x1= [0.6621.14520.51710.98250.69780.88850.24530.89150.80820.9902];x2= [0.79530.93250.69990.90841.10730.82140.99390.52980.65030.8155];y1= [0.050.04770.04970.04860.04910.05020.0550.04850.04990.0486];y2= [0.04810.04830.04850.04310.04340.0480.0450.04940.04640.0486];Z1= [13.2424.0083857410.4044265620.2160493814.2118126317.699203194.4618.381443316.1963927920.3744856];z2= [16.5343035319.3064182214.4309278421.0765661325.5138248817.112522.0866666710.7246963614.0150862116.77983539];% Len =1;% Stem ((y1 (len)-y2)/Y1 (len));% Shaping is 10 *Tenthe data matrix a= Repmat (Y1,1, Datalen)-Repmat (Y2,1, Datalen)';%Convert to Percent fori =1:D Atalen B (i,:)= A (i,:). /Y1 (i); end%find the error within Delat C=[0,0];D Elat=0.01; fori =1: Datalen forj =1:D Atalenif(ABS (b (I,J) < Delat) && (ABS (b (j,i)) < Delat) && (i ~=j)) C=[C; i,j] End EndEnd

Second, the motor installation

There is no content, just install it. Because the drive is integrated on the motherboard. So there's nothing up there.

PS: Pay attention to symmetry, link to use PCB board, maintain a certain degree of softness, and then make the appropriate adjustment can achieve soft connection effect, private, high-priced sale

Smart Car Learning (18)--Motor learning