轮毂电机网络化控制器研究

Study on Networked Controller of Hub Motor

对四轮独立驱动汽车中轮毂电机的控制需求进行分析,设计了一种具有FlexRay总线接口的网络化轮毂电机控制器,给出了控制器的软硬件结构和通信协议;采用广义预测控制策略对轮毂电机速度环控制参数进行校正,以消除负载扰动对轮毂电机控制过程的影响,通过对指令数据进行实时预测,补偿传输过程中的延迟和丢包带来的数据缺失;构建了测试平台,通过模拟指令突变、负载扰动及数据丢包等工况,对所设计的网络化轮毂电机控制器性能进行评估。实验结果表明,预测控制策略和指令实时预测能使轮毂电机控制系统获得准确稳定的控制性能。

By analyzing the requirements of wheel motor control of four-wheel independent drive electric vehicle,a networked hub motor controller was designed with FlexRay bus interface;the hardware and software structure and communication protocols of the controller were put forward.Generalized predictive control strategy was applied to correct control parameters of the speed loop of hub motor and to eliminate the load disturbances in the control process.By real-time instruction predicting,data missing caused by packet loss or transmission delay were compensated.A testing platform was built,employing instruction mutation,load disturbances and packet loss condition simulation the performance of the proposed networked hub motor controller was tested.Experimental results show that predictive control strategy and real-time instruction forecasting can make hub motor control system to obtain accurate and stable control performance.