Design of Double Motor Control System for Intelligent Vehicle
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 double-motor 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.
intelligent vehiclesdouble motor drivePID algorithmPD control of steering engine
NETL
NSTL
万方数据
维普
