电动自行车的动力控制线路设计
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密 惠 保
承载、转向和牵引是地面运行车辆的三大基本功能。目前纯电动汽车正在向多轮驱方向发展，这种系统至少含有两台驱动电机，通过对多电机的协调控制，不仅可实现电动车的双向牵引，而且为同时实现转向协调提供了可能。为此，本文围绕多轮驱电机的协调控制技术进行相关的理论与试验研究。
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首先，对永磁无刷直流电动机的工作原理与特性进行分析；借鉴经典汽车技术，系统的研究了轮驱式电动车的控制功能及实现方法；给出一个由人工转向轮+两个驱动轮组成的电动三轮车概念模型，并提出了一种基于双电机独立驱动、电流指令灵活分配的控制系统策略。该系统接收电流调节手把指令和电流分配指令，通过双电机电流信号分配及闭环控制实现转矩协调控制，使电动车在牵引驱动的同时，实现转向协调控制。
其次，针对上述电动三轮车的控制需求，在对电机功率驱动电路结构与控制方式、电流及转子位置信号检测方法进行比较分析的基础上，设计了无刷直流电动机的硬件驱动电路，搭建了以TMS
最后，在试验研究平台上，完成了系统软件与硬件联合调试。通过电机开环调试，标定了速度检测子系统；单独施加恒定激励电流，标定了电流检测子系统；外加可变负载，验证了电机电流闭环控制功能。调试结果表明，控制系统可实现电机启动、调速、正反转和电流闭环控制。
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关键词：电动汽车；多轮驱；DSP；电流闭环控制
Three basic functions of the ground running vehicles are bearing, steering and traction. At present, the trend of the pure electric automobiles is the multiwheel drive. This kind of system contains two driven motors at least. By coordinating control of the motors, the bidirectional traction of the electric vehicles can be realized, and coordinating control for the steering could become possible at the same time. Therefore, the related theory and experiment about coordinating control technology of the multiwheel drive has been researched in this paper. [来源：http://think58.com]
At first, the working principle and characteristic for the permanent magnet brushless dc motor have been analyzed. According to the technique of traditional automobile, the control functions and realization methods of wheel-driven electric vehicle are researched systematically. The conceptual model of the electric tricycle composed of artificial steering wheel and two driven wheels is presented, and the system control strategy based on independent dual motor driven and flexible current instructions assignment has been proposed. The current adjustment handle instructions and current assignment instructions are received in this system, and coordinating control for torque is realized by assignment and closed-loop control for current of the dual motors. Furthermore, steering coordinating control can be realized, while traction of the electric automobiles can be completed. [版权所有：http://think58.com]
Secondly, for the control need of the electric tricycle mentioned above, the hardware driven circuit of magnet brushless dc motor has been designed on the basis of comparing for power driven circuit structure, control means, mehod of current and rotor’s position signal detection of motor. And the hardware test and research platform of the dual-motor coordinating control system taking TMS
Finally, system software and hardware joint debug has been completed on the experimental study platform. Speed detection subsystem has been calibrated by the motor open-loop tests. Current detection subsystem has been calibrated by excitation permanent current imposed separately. And current closed-loop control of motor has been completed. The test results show that the control system can realize starting, speed adjustment, clockwise and anti-clockwise running and current closed-loop control functions of motor. [来源：http://www.think58.com]
All the test results show that the coordinating control for multiple driven motors of the electric vehicle based on DSP can realize coordinating control for the steering, while traction of the electric automobiles can be completed. Mature technique of current closed-loop control is adopted, and the function of differential mechanism can be replaced by software module, which gives the reference to the study of multiwheel electric vehicles.
Keywords: Electric Vehicle; Multiwheel Drive; DSP; Current Closed-loop Control;
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