Simulation and Design of Unmanned Ground Vehicle Hub Motor Drive Based on Multi-gear Parallel Reducer

Compared to traditional unmanned ground vehicles (UGV), hub motor driven UGV can remove most of the mechanical devices, and the control of the UGV becomes simple, which makes the UGV more reliable in all kinds of operational environments. In this paper, a new reduction hub motor drive structure is proposed, in which the reducer system uses a multi-gear parallel structure, and the power system uses multi-motor to simultaneously drive. At the same time, this paper also establishes a complete mechanical simulation model and control simulation model based on the principle of vehicle dynamics, field oriented control and other related theories, in order to verify the feasibility of the designing of the hub motor drive. The simulation results show that the load of the reducer system of the multi-gear parallel reduction hub motor drive is uniform, and the control of the power system is stable, fast and has a high degree of redundancy when compared to that of the conventional reduction hub motor drive. Meanwhile, the modelling and simulation methods in this paper provide new inspirations for optimizing the designing of the hub motor drive.