电动轮式畜禽巡检车负载驱动试验及分析

详细信息    查看全文 | 推荐本文 |

英文篇名：Load Test and Analysis of Electric Wheeled Livestock and Poultry Inspection Car 作者：张铁民 ; 张衡超 ; 陈辉 ; 梁莉 英文作者：ZHANG Tiemin;ZHANG Hengchao;GHEN Hui;LIANG Li;College of Engineering,South China Agricultural University;The National Engineering Research Center for Breeding Swine Industry; 关键词：驱动控制 ; 双闭环 ; 模糊自适应PID ; 稳定性分析 英文关键词：drive control;;double closed-loop;;fuzzy adaptive proportion integration differentiation;;stability analysis 中文刊名：振动.测试与诊断 英文刊名：Journal of Vibration,Measurement & Diagnosis 机构：华南农业大学工程学院;国家生猪种业工程技术研究中心; 出版日期：2019-10-15 出版单位：振动.测试与诊断 年：2019 期：05 基金：广东省科技计划资助项目（2016A020209008） 语种：中文; 页：59-64+221 页数：7 CN：32-1361/V ISSN：1004-6801 分类号：S817.9;TP273

摘要

针对电动轮式小车的轮毂电机驱动控制及其稳定性问题,笔者采用嵌入式控制器和电流、速度双闭环控制方法,建立了轮毂电机的驱动控制系统。设计了电机驱动电路、速度检测电路、电流检测电路及过流过载保护电路,采用模糊自适应比例积分微分(proportion integration differentiation,简称PID)控制算法,在测功机平台上模拟电动轮式小车在受突变负载时的实际运行状况,对该控制系统的稳定性进行试验与分析。试验结果表明:该小车启动稳定,在施加不同负载情况下能够维持稳定的速度运行,在过流过载情况下触发保护系统,防止电流过大烧毁硬件电路,进行堵转试验系统未出现故障。此驱动控制系统安全可靠,稳定性好,可为分析验证电动轮式小车驱动控制系统的稳定性提供参考。
        The embedded drive control system of the hub motor constitutes of two closed-loop of current and speed controllers.The motor drive circuit,the speed detection circuit,the current detection circuit,and the overcurrent overload protection circuit are designed.The fuzzy adaptive proportion integration differentiation(PID)control algorithm is used to simulate the electric wheel type trolley on the dynamometer platform.The test results show that the trolley is stable and can be operated at different speeds under different load conditions.The protection system is triggered in the case of overcurrent or overload,which prevents the current from being burned out and burns the hardware circuit.The driving control system is safe,reliable and stable,which can provide reference for the analysis and verification of the stability of the electric wheel drive control system.

引文

[1]张铁民，黄翰，黄鹏焕．电动轮式移动小车控制系统设计与试验[J]．农业工程学报，2014,30(19):11-17.Zhang Tiemin,Huang Han,Huang Penghuan.Design and experiment of control system for electric wheeled mobile vehicle[J].Chinese Journal of Agricultural Engineering,2014,30(19):11-17.(in Chinese)
    [2]张铁民，黄鹏焕，黄沛盛，等．轮毂式永磁直流测功机系统的研究[J]．振动、测试与诊断，2016,36(10):829-834.Zhang Tiemin,Huang Penghuan,Huang Peisheng,et al.Study on the hub type permanent magnet DC dynamometer system[J].Vibration Measurement&Diagnosis,2016,36(10):829-834.(in Chinese)
    [3]陈亮，盛占石，刘钢，等．低速电动车用双永磁无刷直流电机协调控制的研究[J]．微电机，2013,46(3):38-41.Chen Liang,Sheng Zhanshi,Liu Gang,et al.Lowspeed electric vehicle dual permanent magnet brushless DC motor coordinated control research[J].Micro-Motor,2013,46(3):38-41.(in Chinese)
    [4]张京，陈度，王书茂，等．农用轮式机器人四轮独立转向驱动控制系统设计与实验[J]．农业工程学报，2015,31(18):63-70.Zhang Jing,Chen Du,Wang Shumao,et al.Design and experiment of four-wheel independent steering driving and control system for agricultural wheeled robot[J].Transactions of the Chinese Society of Agricultural Engineering,2015,31(18):63-70.(in Chinese)
    [5]李鑫，卢刚，李声晋，等．基于模糊PID算法的轮式机器人驱动轮控制器设计[J]．微特电机，2011,11:57-64.Li Xin,Lu Gang,Li Shengjin,et al.Controller Design of wheeled robot based on algorithm of fuzzy PID[J].Small and Special Electrical Machines,2011,11:57-64.(in Chinese)
    [6]厉虹，陈昊．基于TMS320F2812DSP的无刷直流电机调速系统设计[J]．机床与液压，2009,8:31-34.Li Hong,Chen Hao.Based on TMS320F2812DSP brushless DC motor speed regulation system design[J].Machine Tools and Hydraulic,2009,8:31-34.(in Chinese)
    [7]刘恩涛，潘宏侠．高精度无刷直流电机伺服控制系统的设计与仿真[J]．电子元器件应用，2012,14(4):46-50.Liu Entao,Pan Hongxia.Design and simulation of servo control system for high precision brushless DC motor[J].Electronic Components Applications,2012,14(4):46-50.(in Chinese)
    [8]郭啸峰，吴森．轮毂电机式电动汽车试验台的设计与实验[J]．武汉理工大学学报：信息与管理工程版，2013,35(6):859-862.Guo Xiaofeng,Wu Sen.Design and experiment study of test bench for in-wheel motor electric vehicles[J].Journal of Wuhan University of Technology:Information&Management Engineering,2013,35(6):859-862.(in Chinese)
    [9]马琮淦，左曙光，何吕昌，等．电动车用永磁同步电机电磁转矩的解析计算[J]．振动、测试与诊断，2012,32(5):756-761.Ma Conggan,Zuo Shuguang,He Lüchang,et al.Analysis and calculation of permanent magnet synchronous motor torque for electric vehicle[J].Journal of Vibration,Measurement&Diagnosis,2012,32(5):756-761.(in Chinese)
    [10]隋妮，王广萍，李仲兴，等．直流无刷电机再生制动系统试验台的设计与验证[J]．汽车技术，2011,1:49-53.Sui Ni,Wang Guangping,Li Zhongxing,et al.Design and verification of brushless DC motor regenerative braking system test bench[J].Automobile Technology,2011,1:49-53.(in Chinese)
    [11]许彦峰，孙汉旭，贾庆轩，等．直流无刷电机故障检测与诊断的仿真模型[J]．振动、测试与诊断，2005,25(3):190-192.Xu Yanfeng,Sun Hanxu,Jia Qingxuan,et al.Simulation model of fault detection for brushless DC motor using parameter estimation[J].Journal of Vibration,Measurement&Diagnosis,2005,25(3):190-192.(in Chinese)