基于PID神经网络的多轮轮毂电机协调控制研究

Research on Coordinated Control of Multi wheel Wheel Motor Based on PID Neural Network

摘要:

多轮轮毂电机运行参数具有不确定性，因此难以精准计算电机协调控制量，所以设计基于PID神经网络的多轮轮毂电机协调控制方法。搭建多轮轮毂电机数学模型，在该模型下实时采集多轮轮毂电机转速、位置等运行参数，并计算电机协调控制量。装设PID神经网络协调控制器，利用PID神经网络算法生成协调控制指令，从转速、转矩等方面实现多轮轮毂电机的协调控制。测试结果表明，在所提方法的协调控制下，多轮轮毂电机在空载和负载工况下的转矩控制误差降低了21.25r/min和25.7r/min，转矩控制误差降低了6.55N·m和17.45N·m，电机运行平衡度有所提升，多轮轮毂电机协调控制效果更好。

Abstract:

The operation parameters of multi-wheel hub motor are uncertain, so it is difficult to accurately calculate the coordinated control quantity of the motor, so the coordinated control method of multi-wheel hub motor based on PID neural network is designed. The mathematical model of multi-wheel hub motor is built, under which the operating parameters such as speed and position of multi-wheel hub motor are collected in real time, and the coordinated control quantity of motor is calculated. The PID neural network coordination controller is installed, and the coordination control command is generated by using the PID neural network algorithm to realize the coordination control of multi-wheel hub motor from the aspects of speed, torque, etc. The test results show that under the coordinated control of the proposed method, the torque control error of the multi-wheel hub motor under no-load and load conditions is reduced by 21.25r/min and 25.7r/min, the torque control error is reduced by 6.55N·m and 17.45N·m, the motor operation balance is improved, and the coordinated control effect of the multi-wheel hub motor is better.