【作者】 高超；

【导师】 刘锦波；

【作者基本信息】 山东大学 ， 控制工程（专业学位）， 2016， 硕士

【摘要】 差速器是确保两轮及以上的车辆正常运行所必须的部件,它在车辆转向过程中发挥了重要作用。目前,大部分车辆仍然采用的是机械差速器,它存在如下问题：(1)难以保证车辆的快速平稳转向；(2)车身较重；为了解决上述问题,近几年来出现了一种新型的电子式差速器。这种电子式差速器通过双电机驱动控制实现双轮的转速改变以完成车辆的转向,从而提高了车辆转向的灵活性、降低了车辆的自身重量。迄今为止,电子差速器采用的电机本体大多是有刷直流电机。有刷直流电机因存在换向问题,影响了电机的过载能力和转速的提高,而且增加了维修成本。针对上述问题,目前出现了一种基于无刷直流电机的电子差速器。这种新型的电子差速器因通过电子式变流器实现换向,从而克服了有刷直流电机所组成电子差速器的所有不足,因而引起了科技工作者的极大关注。本文在阅读大量文献的基础上,对由无刷直流电机实现的两轮驱动的电子差速器进行了深入研究,具体内容如下：(1)研究了针对双轮电动车的电子差速器方案,该方案可以满足输入角度在Oo～3600范围内变化的要求；(2)针对双后轮驱动的四轮电动车,研究了实现车辆转向的阿克曼模型,由此获得车辆四个车轮的速度分别与给定输入角度和速度幅值之间的关系。(3)考虑到上述电子差速器是由永磁无刷直流电机实现的,论文在讨论了永磁无刷直流电机换向问题的基础上,对由其组成的调速系统以及实现正反转的四象限运行过程进行了探讨。(4)论文最后,实现了一套由双无刷直流电机组成的电子差速器的控制方案。并通过仿真对其有效性进行了验证。更多还原

【Abstract】 Differential is to ensure that the wheel and the normal operation of vehicles must be more than two parts, it has played an important role in the process of vehicle steering.At present, most of the cars still uses a mechanical differential, it exists the following problems:(1) to ensure the vehicle’s fast smooth steering;(2) the heavier car body;Emerged in recent years, in order to solve the above problems, a new type of electronic differential.The electronic differential change by double motor drive control to realize the double speed to complete the vehicle’s steering, so as to improve the vehicle steering flexibility, reduces the own weight of the vehicle.So far, most electronic differential using ontology of motor is a brushless dc motor.A brushless dc motor for reversing problems affect the overload capacity and speed of the motor, and increases the maintenance cost.Aiming at the above problems, present a kind of electronic differential based on brushless dc motor.This new type of electronic differential because by electronic converter commutation, thus overcome the brushless dc motor is composed of electronic differential all is insufficient, therefore has attracted great attention to science and technology workers.In this paper, on the basis of the reading of vast amount of literature, for the brushless dc motor to realize two wheel drive electronic differential were studied, the specific content is as follows:According to the above problem, this paper proposes a new type of differential, which is based on electronic differential of brushless dc motor, abandoned the traditional reducer, clutch, reduce the quality of the body, can make to more quickly and smoothly, on the basis of the reading of vast amount of literature, this paper research content is as follows:(1) Studied two-wheeled electric vehicle electronic differential scheme, the scheme can meet the requirements of input Angle changes in scope;(2)In view of the four-wheel electric double rear wheel drive, realize the vehicle steering ackermann model is studied, at the speed of the vehicle four wheel respectively with a given input Angle and the relationship between the velocity amplitude.(3) Considering the electronic differential is implemented by the permanent magnet brushless dc motor, the paper discussed in permanent magnet brushless dc motor reversing problems, on the basis of the of the speed regulation system, and achieve positive & negative four quadrant operation process are discussed in this paper.(4) The paper in the end, implements a set of electronic differential of double brushless dc motor control scheme.And its validity is verified through the simulation.更多还原