纯电动公铁两用车多电机智能控制器设计  

Design of Multi-Motor Intelligent Controller for Electric Road-Rail Vehicles

作　　者：王珏 金涛涛[1] 张军[1] WANG Jue;JIN Tao-tao;ZHANG Jun(Beijing Key Laboratory of Performance Guarantee on Urban Rail Transit Vehicles,Beijing University of Civil Engineering and Architecture,Beijing 100044,China)

机构地区：[1]北京建筑大学城市轨道交通车辆服役性能保障北京市重点实验室,北京100044

出　　处：《机械设计与制造》2021年第12期244-247,252,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(51775031);北京市科技计划课题(Z161100002216005);北京建筑大学基本科研业务费项目(X18145)。

摘　　要：针对当前纯电动公铁两用牵引车转向系统响应性差的问题,提出了一种纯电动公铁两用车转向系统多永磁同步电机协同控制策略。该控制策略采用偏差耦合同步控制方式,设计了转角协同补偿器对多电机转角误差进行补偿。同时将模糊智能控制算法与PID控制算法相结合,设计了能在线整定控制器增益的模糊PID控制器,与转角协同补偿器相配合,实现多永磁同步电机协同控制策略。基于Matlab/Simulink平台搭建了系统的仿真模型,实验结果表明,模糊PID控制器与PID控制器相比,能使系统响应的稳态时间缩短39%,跟踪精度提高了70%。Aiming at the problem of poor response of the steering system of pure electric road-rail vehicles,it presents a cooperative control strategy for multi-PMSM in steering system. The control strategy uses the deviation coupling synchronous control method,and designs the corner cooperative compensator to compensate the multi-motor corner error. Combining fuzzy intelligent control algorithm with PID control algorithm, a fuzzy PID controller with on-line tuning controller gain is designed,which is combined with corner cooperative Compensator to realize the cooperative control strategy of multi-PMSM. Based on the Matlab/Simulink platform,the simulation model of the system is built,compared with the experimental results show that the fuzzy PID controller can shorten the steady-state time of the system response by 39% and the tracking accuracy by 70% the PID controller.

关 键 词：纯电动公铁两用车 多电机协同控制 转角控制 模糊控制算法 偏差耦合 

分 类 号：TH16[机械工程—机械制造及自动化] U273.98[机械工程—车辆工程]