直行工况下分布式电动汽车四轮转速同步控制

多电机同步控制系统是车辆安全行驶的核心内容之一。为了提高分布式电动汽车在直线行驶时的可靠性以及控制精度,提出一种采用转矩状态观测器的改进型偏差耦合多电机同步控制策略。结合矢量控制算法,分析了偏差耦合结构中速度补偿器的特点并进行改进。根据多电机同步系统中同步误差与跟踪误差的控制要求,进一步给出多电机同步转矩状态观测器的设计方法。仿真结果表明:与传统偏差耦合控制方式相比,能够将系统的同步误差降低约69.23%,跟踪误差降低约64.38%,验证了所提控制策略使得各电机具有更高的同步精度和更好的鲁棒性。直线工况下车辆的转速控制与稳定性实验结果进一步验证了仿真结果的正确性以及车辆行驶的稳定性。

Synchronous Control of Four Wheel Speed of Distributed Electric Vehicle under Straight Driving Condition

Multi motor synchronous control system is one of the core of vehicle driving safety.In order to improve the reliability and control accuracy of distributed electric vehicle in straight line,an improved multi motor synchronous control strategy based on torque state observer was proposed.Combined with vector control algorithm,the characteristics of the speed compensator in the bias coupling structure were analyzed to improve.According to the control requirements of synchronization error and tracking error in multi motor synchronous system,the design method of multi motor synchronous torque state observer was given.The simulation results show that the synchronization error and tracking error of the system can be reduced by 69.23% and 64.38% respectively compared with the traditional deviation coupling control.It is verified that the proposed control strategy makes each motor have higher synchronization accuracy and better robustness.The experimental results of the vehicle speed control and stability under linear condition further verify the correctness of simulation results and the stability of vehicle driving.