两轮毂电动机小车电子差速系统研究

Research on Electronic Differential System of Vehicle with Two In-Wheel Motors

通过对电机驱动理论及传统电子差速方法进行分析,对无线跟随小车提出了基于两轮毂电动机驱动的电子差速系统设计并给出了控制器总体设计思路。建立小车电子差速转向模型,计算电子差速过程中随着转向角度变化内外车轮的转速,同时对小车匀速前进、加减速运行等状态下的电子差速模式进行分析,确定具体运行状态下的控制策略。对两台55 W的四对极电机进行了仿真分析和空载实验。实验结果表明,小车控制器设计合理,电子差速模型正确,控制策略可行。

A plan of the electronic differential system （EDS） based on two in-wheel brushless DC motors was given taking the wireless following vehicle as a platform according to the motor control theory and the traditional EDS. The whole design of the controller was also given. Referring to the Ackerman-Jeantand turning model the model of EDS was established and the speed of two wheels was calculated independently during the turning with the EDS. Different work conditions,including the condition of the vehicle with the uniform speed, accelerating and decelerating, were researched to design the control strategy. Using two 55 W 4 poles motors as example, the simulation and the no-load experiment were done. Simulation and experimental results validate the rationality of the controller, comfirm the accuracy of the model and feasibility of the control strategy.