摘要
以LGTD200Y型公铁两用电动牵引车为对象,提出了基于4台直流无刷轮毂电机的控制方案,给出控制器总体设计思路.采用全轮转向方式,利用低速转向模型,计算了电子差速过程中随着转向角的变化四轮速度的变化,同时分析了滑移率/拖滑率与转矩的调节问题.给出了直线运行时四轮车速的协调方案,研究了电动牵引车转向与加减速处理方案.最后,利用Matlab软件进行了仿真试验,试验结果表明了电动牵引车控制器设计合理,电子差速控制策略正确,能够满足四轮独立驱动电动牵引车的行驶要求.
In order to realize the steering of LGTD200Y road-rail vehicles,the controlling scheme for four in-wheel brushless DC motors is proposed,and the overall design idea of the controller is given.Based on the four-wheel steering system and slow-speed turning model,the speeds of four wheels during the turning with the change of steering angle are calculated independently,and the regulation between torque and slip rate is analyzed.The control strategy for the consistency of four wheels running on straight is given.The coordination and control of four wheels＆#39;acceleration or deceleration during the turning of electric vehicles are studied.Finally,the results of simula-tion by MATLAB show that the design of the controller is rational and the electrical differential system is available.The control strategy can meet the request of the road-rail vehicle with four in-wheel motors.
出处
《兰州交通大学学报》
CAS
2014年第4期155-159,共5页
Journal of Lanzhou Jiaotong University
关键词
公铁两用车
电子差速
轮毂电机
控制策略
road-rail vehicle
electric differential system
in-wheel motor
control strategy
