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标题：智能车双电机控制系统的设计 |
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作者：段丽娜，李若南，李金龙 |
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| 2017年第7期 访问次数：302次 |
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摘要：针对飞思卡尔智能车竞赛的C型车模，前轮舵机转向，后轮双电机差速，先用PID控制算法使智能车的速度能够稳定，然后根据不同赛道用电控方式对此车模后轮的双电机进行差速控制，满足阿克曼转向原理，在原差速转向基础上进行了改进，并提出了一种阿克曼式差速PID公式，也给出一套对差速参数的整定方案，使双电机差速应用简单化。前轮舵机控制采用偏差二次项ABC的PD控制，让电动智能汽车转向性能得到较大的提高。并且双电机的制动采用一种基于能耗制动和反接制动的一种新的制动方法棒棒法，这种方法大大缩短了停车时间，提高了停车准确性。
关键词：智能车；双电机驱动；PID控制；舵机PD控制
Abstract: This paper studied the type C model vehicle in the Freescale national intelligent vehicle contest.The distinguishing feature of the vehicle was the adoption of steering on front wheels and doublemotor differential on rear wheels. PID algorithm was applied to stabilize the speed of the vehicle first. Then, the differential of rear wheels was controlled electronically according to different racing tracks. Since the model vehicle satisfies Ackerman principle, improvement can be made and an Ackerman differential PID equation and aset of setting scheme about the differential parameters were then put forward, which had simplified the application of doublemotor differential. PD control on the steering engine of front wheels has improved steering performance ofthe electric vehicle greatly. Besides, doublemotor braking, which is a new braking mode based on dynamic braking and plug braking, largely shortens parking time and improves the accuracy. It is easy, efficient and convenient.
Key words: intelligent vehicles；double motor drive；PID algorithm；PD control of steering engine
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