双驱轮毂式电机在无人驾驶中的控制与仿真

Control of Double-drive Wheel Motors in Unmanned Vehicles

针对无人驾驶车在直行和转弯过程中轮毂式驱动电机输出转速不协调的问题,将电子差速控制策略引入车辆控制系统中.根据速度矢量对控制系统的影响,设计了以永磁无刷直流电机控制技术为基础的电子差速控制器.该系统以无人驾驶车需要的车速和转弯角度为输入,两后驱电机转速为输出.对驱动电机转速与时间的响应曲线进行了仿真,仿真结果表明此控制器完全能够实现机械差速器的功能,可以实现车辆直线行驶和转弯过程中车轮自由差速.

In order to solve the problem that the output speeds of drive wheel motors are not coordinated when the unmanned vehicles go straight and turn. Electronic differential control strategy was applied to the vehicle control system. Based on the permanent brushless DC motor control technology and the effect of the velocity vector to the control system, a double motor controller was designed. With unmanned vehicles＇ given speed and turning angle as the control system＇s input, the output of the control system is the speeds of two back dive motors. The simulation of the response curve of drive motor＇s speed and time shows that not only the function of mechanical differential but also free differential in going straight and turning can be achieved by this controllor.