分布式驱动电动汽车多电机系统改进型环形耦合控制

Improved Ring Coupling Control for Independent Drive Electric Vehicle Multi-motor System

采用轮毂电机驱动的电动汽车,多电机协同控制是车辆安全行驶的重要因素。基于目前多电机控制系统跟踪误差和同步误差较高的问题,为提高控制精度及四轮独立驱动电动汽车的行驶稳定性,结合傅里叶级数循环学习法提出了一种改进型的环形耦合控制方法。该方法通过循环学习有效地提高了控制方法的控制精度,明显降低了多电机运行时的跟踪误差和同步误差。通过Matlab/Simulink搭建了四轮毂电机同步控制模型,验证了所提控制方法的可行性。基于CARSIM与Matlab/Simulink联合仿真平台模拟实车运行,进一步验证了所提多电机协同控制方法能够有效降低四轮电机运行的同步误差和跟踪误差,有助于提高车辆的运行稳定性。

In electric vehicles driven by in-wheel motors,multi-motor collaborative control is an important factor for safe driving.Based on the high tracking error and synchronization error of multi-motor control system,in order to improve the control accuracy and driving stability of four-wheel independent drive electric vehicles,this paper proposed an improved ring coupling control method combined with Fourier series cyclic learning method.This method effectively improved the control accuracy of the control method through loop learning,and significantly reduces the tracking error and synchronization error during multi-motor operation.Through Matlab/Simulink,a synchronous control model of four-wheel hub motor was constructed,and the feasibility of the proposed control method was verified.Based on the joint simulation platform of CARSIM and Matlab/Simulink,the simulation of real vehicle operation was further verified,which further verified that the multi-motor collaborative control method proposed in this paper could effectively reduce the synchronization error and tracking error of four-wheel motor operation,and help improve the operation stability of the vehicle.