虚拟轨道车辆的无刷直流电机驱动技术研究

Research on Driving Technique of Brushless Direct Current Motor Based on Virtual Orbit Vehicle

虚拟轨道车辆是一种基于胶轮、电子差速转向和车体自主导向循迹控制的新型交通产品,无刷直流(BLDC)轮毂电机驱动技术是该车辆控制系统的核心。为此,分析了BLDC轮毂电机的数学模型,选择三相六状态导通作为电机功率驱动方式,推导了换相时刻开通相相调制或非换相相调制两种方式下电机转矩脉动计算方法。结果表明,开通相调制时电机转矩脉动更小。研究建立了单台无刷直流电机(BLDCM)正反转转速电流双闭环控制模型,分析了相同工况下5种调制方式时电机转矩脉动情况。仿真和实验结果验证软硬件设计的正确性和控制策略的有效性。

Virtual orbital vehicle is a new type of transportation product based on the steering wheel,the electronic differential steering system and the autonomic guiding technology of the vehicle,and the brushless direct current(BLDC)hub motor drive technology is the core of the vehicle's control system.So the mathematical model of the BLDC hub motor is introduced,and the three-phase six-state mode as power drive mode of the motor is selected.The commutation torque ripple calculation method for the motor under different modulation modes are deduced based on the classification principle by using phase modulation or non-commutation phase modulation at the time of commutation.The results show that the torque ripple of motor is smaller when the phase is switched on.A double closed loop control model of forward and reverse rotating speed and current of a single brushless direct current motor is established,and the torque ripple of motor under five modulation modes under the same working condition is analyzed.The correctness of the hardware and software design and the effectiveness of the control strategy are verified by simulation and experimental results.