Research On Two-wheeled Slef-balancing Vehicle Permanent Magnet Motor Control System Based On ARM

Two-wheeled self-balancing vehicle provides a environment-friendly way to travel around in city. Due to its characteristics of simple flexible operation and compact size, it has caught wide attention. Two-wheeled self-balancing vehicle is a human-involved means of transportation, safety is the first requirement. The contents of this thesis include presenting the architecture of two-wheeled self-balancing vehicle motor drive system, design and implementation of permanent magnet synchronous motor(PMSM) drive system, design and verification of brushless wheel motor drive system.The analyses of two-wheeled self-balancing vehicle include system architecture, the role in which motor drive system played, the strategies to solve the difficulties of various drive conditions. This thesis presents the classification of motor drive systems in two-wheeled selfbalancing vehicle, and according to the proposed classification, block diagram and overview of two drive solutions is presented: application of PMSM with a gearbox, in which speed command is received; application of direct drive wheel motor, in which torque command is received.For PMSM drive system, after mathematical modeling, Matlab simulation and physical system setup, a 36 V PMSM servo drive system is completed. Then experiments are designed to verify the performance of this dual closed-loop system. Subsequently, the servo system is ported to two-wheeled self-balancing vehicle drive system, which operates at different speeds. The efficiency test under different loads is also carried out.For wheel motor drive system, this thesis presents theoretical analysis, simulation and the feasibility of vector control of wheel motor. Estimation method of electrical angle at low speed is also presented. Completing of wheel motor torque control system verifies the feasibility of the plan.The particularity of two-wheelers drive system is reviewed in this thesis. The design and implementation of PMSM drive system is finished and applied to two-wheelers drive system. Torque control mode of wheel motor drive system is completed, which lays a solid foundation of the practicability of the proposed method.