摘要
在自主设计转向机器人的基础上,结合其在车辆瞬态响应试验中的具体应用,研究其驱动单元(直流无刷电机)的控制算法.采用混杂切换控制,根据目标转角曲线的斜率切换电机的工况及对应的控制方法、换向时序.在Matlab/Simulink中建立转向机器人模型,结合CarSim模拟转向机器人,进行车辆瞬态响应试验.仿真结果表明:所采用的控制算法具有较好的控制效果,转向机器人能够完成满足试验标准要求的道路车辆瞬态响应试验.
According to the specific requirements in vehicle transient response test, a control algorithm is worked out for its driving unit （a brushless DC motor） of an independently designed steering robot. A hybrid switching control system is used to switch the working condition, corresponding control method and commutating timing of the driving motor according to the slope of the target steering angle curve. A model for the steering robot is established in Matlab-Simulink, and its transient response test is simulated in CarSim. The result shows that the introduced algorithm is of a better control effect, and the transient response of the steering robot can meet the requirements of the vehicle road test standard.
出处
《车辆与动力技术》
2012年第4期12-15,共4页
Vehicle & Power Technology
基金
江苏大学高级专业人才科研起动基金(11JDJ088)
江苏省农业科技自主创新基金(SCX(11)2223)
