Research On Dual Motor Drive Control Strategy Based On Unmanned Road Sweeper

In view of the current severe environmental situation,the technical level of sanitation vehicles is backward,and the cleaning efficiency of sanitation workers is low,unmanned road sweeper vehicle arises at the historic moment.The unmanned road sweeper collects images through the camera and carries out path planning,and the dual-motor drive system is controlled by the vehicle controller,so as to realize the autonomous navigation and operation of the unmanned road sweeper.However,under the influence of various factors in complex and changeable use occasions,unmanned road sweeper is easily disturbed by many unknown factors in the normal use process.These problems may cause synchronous error and tracking error in the speed of the dual drive motor of the unaccompanied road sweeper,or even lead to the failure of the unaccompanied road sweeper.Fully in the field of research both home and abroad,this subject to no one to sweep road car double motor drive in a straight line driving condition need to keep the problem of synchronous operation and will focus on its two driving motors,on the basis of predecessors’ research achievements for reference,the developed a set of based on fuzzy compensator and cross coupling structure of double motor control system.The system consists of a single motor driver and a dual motor controller.In the system,the single motor driver regulates the motor speed,and the main function of the dual motor controller is to ensure the same and coordinated change of the two motor speeds.Through the analysis of the whole vehicle parameters,performance requirements and transmission structure of the sweeper,the parameters of the motor and power supply are selected.The hardware circuit of the motor driver includes: control circuit,drive circuit,signal conditioning circuit and power supply circuit.In this paper,the speed regulator algorithm of single motor and the synchronous control algorithm of double motor are mainly studied,and a strategy which can synchronously compensate the synchronization error between the two motors is explored,so as to further improve the synchronization performance of the control system of double motor.By using Simulink,the single and double motor control models with scientific rationality and accurate specification are constructed.Among them,the single-motor controller selects the fuzzy PI speed adjustment control algorithm with high popularity,which can have fast response performance as well as strong performance against load disturbance.The dual motor controller adopts cross coupling control structure and fuzzy compensation control strategy,which is helpful to enhance the synchronous performance of the dual motor.The experimental results show that the system runs well and can meet the predetermined requirements.