电动轮式小车控制系统设计与可靠性分析

针对电动轮式小车驱动控制及可靠性问题,建立了动力、转向驱动控制系统。设计了一种电动轮式小车的动力及转向系统,并对其可靠性进行了分析和实验验证。动力部分由STM32作为主控制器,通过基于全桥驱动芯片IR2136的驱动电路对4个无刷直流电机进行驱动控制,转向部分由基于半桥驱动芯片IR2103的驱动电路驱动2个有刷直流电机进行转向控制,控制系统采用速度环、电流环双闭环,算法上采用模糊自适应比例-积分-微分(proportion integration differentiation,简称PID)算法。对系统可靠性进行实验并分析的结果表明,能够很好地跟随负载以及降低启动电流,使小车可靠运行。此驱动控制系统负载能力良好,启动电流小,安全稳定,转向精确,满足设施农业作业需求。

Design and Reliability Analysis of Control System for Electric Wheeled Trolley

According to the driving control and reliability of electric wheeled vehicle, a power and steering control system is established. The power and steering system of an electric wheeled vehicle is designed, and its reliability is analyzed and verified by experiments. The power part is composed of STM32 as the main controller, which can drive and control four brushless DC motor through the drive circuit chip IR2136 based on the full bridge; steering part can be controlled by driving two brushless DC motor through the driving circuit of half bridge driver chip based on IR2103, double loop control system of the speed loop and current loop is adopted and the fuzzy adaptive proportion integration differentiation (PID) algorithm is used. The experimental results show that the system can well follow the load and reduce the starting current, so that the car can run reliably. The drive control system has the advantages of good load capacity, small starting current, safe and stable, and accurate steering, which can meet the requirements of facility agriculture.