基于FOC的纯电动履带式遥控绿篱机控制系统设计

Design of FOC-based control system of electric crawler type remote controlled hedge trimmer

针对在作业过程中两侧履带经常受到大小不同的载荷而造成纯电动履带式遥控绿篱机作业偏航频繁,需要人工不断调整的问题,提出了一种纯电动履带式绿篱机的控制系统,并研究不平衡载荷对其工作状态的影响。首先通过分析绿篱机作业过程的3种典型工况,根据履带车辆地面力学理论,研究绿篱机在直线行驶、30°横坡行驶和30°纵坡行驶典型工况下所需驱动力矩大小,进行绿篱机行驶力学分析;其次通过设置高压总线、低压总线和通信总线的方式实现绿篱机控制器、传感器、驱动电机等的工作和通信,进而完成绿篱机控制系统硬件的方案设计;最后基于MATLAB/Simulink软件平台搭建纯电动履带式遥控绿篱机行驶驱动系统的仿真模型,研究该绿篱机的双侧履带在受到不同载荷的情况下,其驱动电机分别采用比例积分控制(PI)算法和自抗扰技术(ADRC)控制算法时的磁场定向控制(FOC)的转矩和转速的变化情况。研究结果表明:以上述方法设计得到的纯电动履带式遥控绿篱机能够以遥控方式实现绿篱作业;相比于原有的PI算法,采用ADRC控制算法的FOC控制方法对于协调转速与转矩,以及提升系统鲁棒性有明显优势,系统转速的稳态时间提升约5倍,系统转速无超调,系统转矩的稳态速度和稳态误差均改善约40%,解决了绿篱机在遥控工作状态下偏航严重,人工干预频繁的问题。

To solve the problem of the excessive yaw angle when the electric crawler type remote controlled hedge trimmer worked by the remote control,which resulted in the frequent manual adjustment because of the unbalanced load exerting into the different side of tracks,the causes were analyzed and a type of the control system was introduced.The theoretical load and velocity were researched according to the vehicle’s dynamic theory in typical working condition,including the straight ground,30 degree of the longitudinal slope and 30 degree of the cross slope.The high voltage bus,the low voltage bus and the communication bus were set in the system to enable the controller,sensors and motors to work and communicate.Two field oriented control(FOC)simulation,the one was controlled by traditional PI algorithm and the other was controlled by active disturbances rejection control(ADRC)technique were built in MATLAB/Simulink to compare their robustness by analyzing their fluctuations of velocity and torque figures when the load was changed suddenly.The results show that the design of control system could support the trimmer’s work in remote control and the new type algorithm is obviously beneficial to the system robustness,which leads to about 5 times increase of the steady state time without overshoot in system and about 40%of improvement of torque fluctuation and the steady time.1 tab,6 figs,28 refs.