基于神经网络PID的多轮轮毂电机协调控制研究  

Research on Coordinated Control of Multi Wheel Hub Motors Based on Neural Network PID

作　　者：苏清源 SU Qingyuan(School of Automotive and Traffic Engineering,Heilongjiang Institute of Technology,Harbin 150050,China)

机构地区：[1]黑龙江工程学院汽车与交通工程学院,哈尔滨150050

出　　处：《计算机测量与控制》2023年第8期135-141,共7页Computer Measurement &Control

摘　　要：多轮轮毂电机运行参数具有不确定性,因此难以精准计算电机协调控制量,所以设计基于神经网络PID的多轮轮毂电机协调控制方法;搭建多轮轮毂电机数学模型,在该模型下实时采集多轮轮毂电机转速、位置等运行参数,并计算电机协调控制量;设计神经网络PID协调控制器,利用神经网络PID算法生成协调控制指令,从转速、转矩等方面实现多轮轮毂电机的协调控制;测试结果表明,在空载和负载工况下所提方法的转速控制结果与预期值之间的差值分别为2.7 r/min、3.3 r/min,转矩控制结果与预期值之间的差值分别为5.2 N·m、5.8 N·m,电机运行平衡度较高,多轮轮毂电机协调控制效果好。The operating parameters of multi wheel hub motors are uncertain,it is difficult to accurately calculate the coordinated control quantity of motors.Therefore,a coordinated control method for multi wheel hub motors based on neural network PID is designed.This paper establishes a mathematical model of a multi wheel hub motor,collects the real-time operating parameters of speed and position of the multi wheel hub motor,and calculates the coordinated control quantity of the motor.A neural network PID coordination controller is designed,the neural network PID algorithm is used to generate the coordination control instructions,and achieve the coordinated control of multi wheel hub motors at speed and torque.Test results show that under the no-load and load conditions,the difference between the speed control results of the proposed method and the expected value is 2.7 r/min and 3.3 r/min,respectively.The difference between the torque control results and the expected value is 5.2 N·m and 5.8 N·m,respectively.The motor has a high operating balance,and the coordinated control effect of multi wheel hub motors is good.

关 键 词：神经网络PID 多轮轮毂电机 电机控制 协调控制 控制指令 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U464[自动化与计算机技术—控制科学与工程]