智能车双电机控制系统的设计

Design of Double Motor Control System for Intelligent Vehicle

针对飞思卡尔智能车竞赛的C型车模,前轮舵机转向,后轮双电机差速,先用PID控制算法使智能车的速度能够稳定,然后根据不同赛道用电控方式对此车模后轮的双电机进行差速控制,满足阿克曼转向原理,在原差速转向基础上进行了改进,并提出了一种阿克曼式差速PID公式,也给出一套对差速参数的整定方案,使双电机差速应用简单化。前轮舵机控制采用偏差二次项ABC的PD控制,让电动智能汽车转向性能得到较大的提高。并且双电机的制动采用一种基于能耗制动和反接制动的一种新的制动方法-棒棒法,这种方法大大缩短了停车时间,提高了停车准确性。

This paper studied the type C model vehicle in the Freescale national intelligent vehicle contest. The distinguishing feature of the vehicle was the adoption of steering on front wheels and doublemotor differ- ential on rear wheels. PID algorithm was applied to stabilize the speed of the vehicle first. Then, the differ- ential of rear wheels was controlled electronically according to different racing tracks. Since the model vehi- cle satisfies Ackerman principle, improvement can be made and an Ackerman differential PID equation and aset of setting scheme about the differential parameters were then put forward, which had simplified the ap- plication of double-motor differential. PD control on the steering engine of front wheels has improved steering performance ofthe electric vehicle greatly. Besides, doublemotor braking, which is a new braking mode based on dynamic braking and plug braking, largely shortens parking easy, efficient and convenient. time and improves the accuracy. It is