Research On Multi-wheel Set Cooperative Control System Of Hub Motor Wheelset Motion Platform

With the rapid development of power electronics technology and battery energy storage technology,electric vehicles are developing more and more rapidly,while the steering of traditional electric vehicles still relies on a complex steering mechanism,and the wheelset structure designed in this article uses a differential method for turning,Omitting the traditional complicated steering mechanism,and providing a feasible turning scheme for future vehicle design.Based on this background,this paper takes a wheel-based all-electric propulsion intelligent mobile platform pre-developed by the research group as the background,and takes the wheelbased in-wheel motor as the research object.Design and seek a wheel-based in-wheel motor in different ways.Control system under operating conditions.If the wheel-set wheel hub motor can be reasonably and smoothly controlled,it can not only reduce power consumption,but also ensure the smooth operation of the platform.At the same time,it reflects the small turning radius of the wheel-set mobile platform and the advantages of ultra-high flexibility.It is designed for future vehicles.It also has certain guiding and exploratory significance.Based on the above functions,this paper designs a wheel set model based on the in-wheel motor,builds a simulation model of the in-wheel motor in MATLAB/Simulink,and uses genetic algorithms to tune the PID parameters of the in-wheel motor.In the coordinated control strategy of wheel-set in-wheel motors,a selection strategy of intelligent selection of priority driving guide wheels is designed.In the control algorithm of wheel-set in-wheel motors,three control algorithms of PID,fuzzy algorithm and BP neural network are used to form the main selection strategy.The coordinated control strategy of driving steering wheel + control algorithm is repeated experiments for three situations of in-wheel motor wheel-to-wheel mobile platform for straight driving,Sin curve driving,and circular driving.It is concluded that the synergy effect of the wheelset of the wheel-set experimental mobile platform of the in-wheel motor is better than the fuzzy algorithm and the BP neural network algorithm in the straight-line driving(including straight-line uniform driving,realizing acceleration and deceleration driving).In road driving and circular curve driving,the cooperative control effect of BP neural network is better than PID and fuzzy algorithm;while the fast start performance of fuzzy algorithm will be higher than PID and neural network algorithm,which causes its initial start speed to be fast and error Larger,the synergistic effect is greatly reduced.After the start-up is completed and the smooth operation phase is entered,the synergistic effect is roughly the same as the synergistic control effect of PID and BP neural network.