基于霍尔传感器的电动车差速转向的设计与研究

Design and research of electric vehicle differential steering based on Hall sensor

由于电动车可在多个车轮上放置轮毂电机,且电机转速控制易于实现,这使得电动车相对于传统汽车具有了一个不可比拟的优势.电动车轮毂电机的速度控制方案,是实现电动车运动方向和运动轨迹控制的核心.霍尔元件以其非接触传感性质及对工作环境的广泛适用性被电动车采用为传感元件.通过确定基于霍尔传感器的电动车差速转向的控制方案,由加速霍尔和转向霍尔采集控制信号,通过单片机向轮毂电机控制器输出控制信号,进而控制轮毂电机的转速.推导出加速霍尔和转向霍尔双输入量下,左右轮毂电机线性控制关系式,同时实现了方向盘灵敏度在不同车速下的有效调节,提高了车辆的安全性.

For electric vehicles, hub motor can be placed on a plurality of wheels. And it is easy to implement motor speed control, so the electric vehicle compared with the traditional vehicle has an unparalleled advantage. The speed control scheme of hub motor for electric vehicle is the core to realize electric vehicle motion direction and the motion trajectory control. Hall element is used as the sensing element of electric vehicle for its non contact sensing properties and widely adaptability to the working environment. By determining the control scheme of electric differential steering based on Hall sensor, collecting control signal by acceleration Hall and steering Hall, outputting the control signal from the singlechip to the hub motor controller, and controlling the hub motor speed. Under the double inputs of the accelerated Holl and turned to Holl, left and right hub motor linear control relationship can be derived. It proves to be the effective adjustment of wheel sensitivity at varying speeds, and improves the safety of vehicles.