【作者】 张伟；

【导师】 谭宝成；

【作者基本信息】 西安工业大学 ， 控制理论与控制工程， 2012， 硕士

【摘要】 随着城市现代化进程的发展,汽车数量逐渐增多,汽车在使用过程中带来的道路拥挤、交通事故和环境污染等问题已经严重危害到人们的生命和财产安全,这使得智能化交通的研究受到了越来越广泛的关注。在智能化交通的研究中,无人操作智能车的研究是一个极为重要的项目,无人操作智能车性能的好坏将会直接影响到这项研究是否能够顺利进行。无人操作智能车运动控制系统是无人操作智能车的核心,对无人操作智能车的稳定运行起着重要的作用。本文以普通电动车为平台设计了以DSP为核心控制器的运动控制系统,并对该系统进行了仿真,为后续研究工作提供了一个稳定的实验平台。本课题对智能车运动控制系统的硬件电路进行了设计,提出了一种基于双后轮轮毂式驱动电机的电子差速控制算法,确保了车辆的安全运行。首先,论文介绍了智能车的整体结构,并对车辆的控制器进行了分析。其次,完成了对系统硬件电路的设计工作,主要包括：主控制器的选型、电源电路的分析、遥控器的设计、电机控制模块研究、速度检测模块的安装以及通信系统的实现。然后,重点对电机的机械特性和控制性能进行了建模分析,选择了两个性能优异的永磁无刷直流电机作为无人操作智能车的轮毂式驱动电机,满足了车辆控制要求。在此基础上,针对车辆在直行和转弯过程中轮毂式驱动电机输出转速不协调的问题,将电子差速控制算法引入车辆控制系统中。根据对车体模型的分析,设计了种电子差速控制器来实现对车辆的安全控制。最后,对整个系统进行了仿真验证,通过对车辆运行过程中各主要参数的仿真分析,验证了电子差速控制算法的可行性。实验证明了智能车运动控制系统能够很好的满足控制要求,运动控制系统具有很好的可行性。更多还原

【Abstract】 With the development of urban modernization, car numbers increase gradually.The problems such as road crowded, traffic accidents, environmental pollution caused by cars have been serious harm people’s lives and property safety.It makes the research of intelligent transportation draws more and more attention. In the study of intelligent traffic, unattended operation of intelligent vehicle research is a very important project.The no one operating intelligent car’s performance will directly affect the study whether can smoothly.The motion control system is the core of the unmanned operation of intelligent vehicle.It plays an important part in the unmanned operation of intelligent vehicle system.This paper use the ordinary electric car as a platform design the motion control system by DSP controller as the core and simulated the system, provide a stable experimental platform for the subsequent research.This project design the hardware circuit of the intelligent vehicle motion control system, provide a control algorithm of a double rear wheel type based on the drive motor electronic differential, to ensure the safe operation of the vehicle.First, this paper introduces the overall structure of the smart car and analyzes the controller of vehicle.Second, complete the hardware design work of the system, which mainly include select the main controller, the analysis of the power supply circuit, remote control design, the motor control module research, install the speed detection device and realize the communication system.After that, carry on motor’s modeling analysis on the mechanical properties and control performance. Choose two excellent performance brushless dc motor as unattended operation of intelligent car wheel drive motor to meet the vehicle control requirements. On that basis, bring the electronic differential control algorithm in the vehicle control system aim at wheel hub type driving motor output speed inharmonious problems produce form the vehicle go straight and make a turn in the process. Finally, simulate the whole system, verify the electronic differential control algorithm is feasible through analysis the mian parameters in the vehicle operation process. Experiments show intelligent vehicle movement control system can meet control requirement, motion control system has a very good feasibility.更多还原