Design and Implementation of an Unmanned Express Delivery Vehicle

In this paper, an express delivery vehicle platform is designed for the practical needs of delivery industry, which is driven by hub motors. The control system is further studied based on the double closed-loop of DC motor model, and the simulation is made. To improve the stability of hub motor’s speed, STM32 is used to perform Kalman filtering on the speed value returned by the encoder. Then the control effects of incremental PID and a ‘double-speed-loop’ system on the motion are discussed. In the experimental verification phase, actual running results are tested, comparing with simulation result.