双路电动轮协调控制的策略设计与仿真

为了实现双路电动轮的协调控制,分析了驱动系统的运动方程,建立了电动轮的数学模型,提出了转速和、转速差并联PI的控制策略.最后,利用Matlab进行了系统仿真,仿真结果表明:在恒速控制中,能够加快电动轮转速的上升速度,减小超调量,缩短调节时间;在差速控制中,单路电动轮能够按照预定方案实现平稳的加减速.控制系统具有较强的抗干扰能力.转速和、转速差并联PI控制策略算法简单,运算量小,控制效果好,具有一定的理论和工程应用价值.

Design and Simulation of Strategy for Dual In-wheel Motors' Coordinated Control

In order to achieve the coordinated control of dual in-wheel motors,the paper analyzed a movement equation for driven system,established the mathematical model of in-wheel motor,and presented a parallel PI control strategy for the sum and the difference of rotational speeds.At last a system simulation employing Matlab has been done.The simulation results show that: In the constant speed control,the increase speed of in-wheel motors is accelerated,the overshoot amount is reduced,and the time for adjustment is shortened;In the differential speed control,one-way in-wheel motor achieves a smooth acceleration and deceleration according to the programmer.The control system has strong anti-interference capability.The control strategy is simple,has small amount of computing and good control effect,so it has a theoretical and project value.