摘要
本文以小型四轮独立驱动电动车为研究对象,对其性能指标进行设计,对直流无刷电机特性进行匹配计算和模型建立。在此基础上,设计了一种基于转速反馈的电机调速系统。建立四轮差速转向运动学方程,根据车辆差速转向特点,设计了一种四电机综合控制系统,采用Simulink软件建立模型,并进行仿真研究。仿真结果表明,设计的4×4电驱动车辆控制算法能够较好的实现对小车各轮的协调控制,实现转向过程中的平稳行进,验证了综合控制算法的可行性。
In this paper, a small four wheel independent electric vehicle is used as the research object, and its performance index is designed. The matching calculation and modeling of the characteristics of brushless DC motor are carried out. On this basis, a motor speed control system based on rotational speed feedback is designed. A four motor integrated control system is designed based on the characteristics of vehicle differential steering. The Simulink software is used to build the model and carry out the simulation study. Simulation results show that the design of the 4 × 4 electric vehicle control algo rithm can better realize the coordination control of each wheel of the car and achieve the smooth running in the steering process, verifying the feasibility of the integrated control algorithm.
作者
蔡立春
廖自力
刘春光
胡子龙
CAI Lichun;LIAO Zili;LIU Chunguang;HU Zilong(Army Armored Force Academy,Beijing 100072,China)
出处
《电工技术》
2018年第18期14-16,20,共4页
Electric Engineering
关键词
电动汽车
四轮独立驱动
控制算法
差速转向
electric vehicles
four wheel independent drive
control algorithm
differential steering
