后轮毂电机独立驱动电动车的驱动控制研究  

On Drive-Control System of EV Driven by Rear In-Wheel Motors

作　　者：卢营蓬[1] 常嘉航[1] 蒋猛[1] 张建军[1] 吴海兵[1] 

机构地区：[1]西南大学工程技术学院,重庆400715

出　　处：《西南师范大学学报（自然科学版）》2014年第4期144-148,共5页Journal of Southwest China Normal University(Natural Science Edition)

基　　金：重庆市科技攻关计划项目(CSTC;2011AC1016);西南大学"国家级大学生创新创业训练计划项目"(201210635122)

摘　　要：针对后轮毂电机独立驱动的电动车,研究其驱动控制系统.分别分析了直线行驶和转向行驶时的运动状态,根据经典Ackermann-Jeantand转向模型建立转向运动学方程并构建驱动控制系统,遵循转向降速的原则,以两前轮转速差为参考控制两后轮转速差,快速并准确判断汽车的行驶状况,采用PID算法,输出PWM调节后驱动轮转速.Matlab/Simulink仿真表明,该驱动控制系统能保证电动车直线行驶平稳和转向差速可靠.This paper deals with the studies of drive and control system of EV which driven by rear in-wheel motors.The motion status of driving straight and steering separately has been Analyzed on the basis of classic Ackerman-Jeantand steering mode,the kinematics equation of steering and drive-control system established,the principle of deceleration when steering followed,which takes the two front-wheel’s speed difference as the obj ect of two rear-wheel’s speed difference,transport condition of EV fleetly and accu-rately j udged,and PID algorithm and PWM furnished to control the speed of rear driving wheels.Indica-ted by the simulations with Matlab/Simulink,the drive-control system can ensure that EV goes straight steady and steers differential reliably.

关 键 词：后轮驱动 轮毂电机 差速 

分 类 号：U469.11[机械工程—车辆工程]