基于轮毂式驱动的小型环卫电动车的电控系统设计

THE ELECTRIC CONTROL SYSTEM DESIGN OF SMALL TYPE SANITATION WHEEL HUB ELECTRIC VEHICLE

本文针对大型场馆、楼宇清扫的小型多功能环卫电动车的研制提出了车辆电气控制系统方案,车辆选用轮毂式无刷直流电动机作为驱动电机,采用电子差速原理实现转向控制,电机采用转速/电流双闭环的PID进行调节。整个车辆电气控制系统分整车控制单元和电机控制单元两部分,本文针对两部分电路展开了详细的设计,并完成制作与现场实验,实验表明电气控制系统能够实现电子差速自由转向和行驶,并能够较好地完成清扫、喷洒、拖洗地面、铲雪及避障检测工作。

In this paper, a kind of vehicle electrical control system has put forward for the development of small multifianctional sanita-tion electric vehicle for large venues and building sweeping, the vehicle selects wheel hub type uses electronic differential principle to achieve steering control, the motor speed is controlled by double closed loop PID of speed and current. Electrical control system of the whole vehicle is divided into vehicle control unit and motor control unit, to launch a detailed design for the two part of the circuit, to make the vehicle and do field experiment. Experiment has shown that electric control systemcan achieve free steering and driving of electronic differential - gear and succcssfully finish cleaning, spraying, mop show and obstacle avoidance test .