电机串联式电动车驱动系统变结构控制

Variable Structure Control of Electric Vehicle's Driving System with Motors in Series

为了解决电机串联式两轮驱动电动车在高速转弯时运动不稳定的问题,同时提高控制系统的收敛速度,并避免陷入局部最优,建立了电动车动力学模型,系统分析了汽车行驶时每个驱动轮的受力情况。在电动车高速转弯时,对驱动系统采用变结构的控制方法,使2个驱动电机按并联方式连接。采用神经网络PID控制方法对2个电机单独进行控制,并在计算过程中加入动量因子,最后对蛇行试验数据与仿真数据进行了对比。结果表明:仿真值与试验值相差很小,该控制器能够有效抵消因侧倾力矩存在而引起的电动车运动的不稳定;电动车能够很好地跟踪驾驶员的指令,并能够稳定地行驶。

In order to solve the instability of the two-wheel drive electric vehicle（EV） with motors in series when turning at high speed,and enhance the convergence rate and avoid trapping into local optimization in the control system at the same time,the dynamic model of the EV was constructed and the force of the EV＇s each driving wheel was systematically analyzed.When the EV turned at high speed,variable structure control mode was adopted,and the two driving motors were connected in parallel.The controller adopted neural network PID control mode,the two motors were controlled respectively,and the momentum factors were added in the calculation process.Finally,authors compared the data of simulation and experiment in slalom test.Result indicates that the difference of the value between simulation data and experiment data is very small.This controller can effectively counteract the instability because of the existence of the rolling moment.The EV can track the driver＇s instruction wonderfully and can run stably.