【摘要】 针对电动轮式小车的轮毂电机驱动控制及其稳定性问题,笔者采用嵌入式控制器和电流、速度双闭环控制方法,建立了轮毂电机的驱动控制系统。设计了电机驱动电路、速度检测电路、电流检测电路及过流过载保护电路,采用模糊自适应比例积分微分(proportion integration differentiation,简称PID)控制算法,在测功机平台上模拟电动轮式小车在受突变负载时的实际运行状况,对该控制系统的稳定性进行试验与分析。试验结果表明:该小车启动稳定,在施加不同负载情况下能够维持稳定的速度运行,在过流过载情况下触发保护系统,防止电流过大烧毁硬件电路,进行堵转试验系统未出现故障。此驱动控制系统安全可靠,稳定性好,可为分析验证电动轮式小车驱动控制系统的稳定性提供参考。更多还原

【Abstract】 The embedded drive control system of the hub motor constitutes of two closed-loop of current and speed controllers.The motor drive circuit,the speed detection circuit,the current detection circuit,and the overcurrent overload protection circuit are designed.The fuzzy adaptive proportion integration differentiation(PID)control algorithm is used to simulate the electric wheel type trolley on the dynamometer platform.The test results show that the trolley is stable and can be operated at different speeds under different load conditions.The protection system is triggered in the case of overcurrent or overload,which prevents the current from being burned out and burns the hardware circuit.The driving control system is safe,reliable and stable,which can provide reference for the analysis and verification of the stability of the electric wheel drive control system.更多还原