CAJ | 학술논문

针对后轮毂电机独立驱动的电动车，研究其驱动控制系统.分别分析了直线行驶和转向行驶时的运动状态，根据经典 Ackermann-Jeantand转向模型建立转向运动学方程并构建驱动控制系统，遵循转向降速的原则，以两前轮转速差为参考控制两后轮转速差，快速并准确判断汽车的行驶状况，采用PID算法，输出PWM调节后驱动轮转速.Matlab/Simulink仿真表明，该驱动控制系统能保证电动车直线行驶平稳和转向差速可靠.
침대후륜곡전궤독립구동적전동차，연구기구동공제계통.분별분석료직선행사화전향행사시적운동상태，근거경전 Ackermann-Jeantand전향모형건립전향운동학방정병구건구동공제계통，준순전향강속적원칙，이량전륜전속차위삼고공제량후륜전속차，쾌속병준학판단기차적행사상황，채용PID산법，수출PWM조절후구동륜전속.Matlab/Simulink방진표명，해구동공제계통능보증전동차직선행사평은화전향차속가고.
This paper deals with the studies of drive and control system of EV which driven by rear in-wheel motors.The motion status of driving straight and steering separately has been Analyzed on the basis of classic Ackerman-Jeantand steering mode,the kinematics equation of steering and drive-control system established,the principle of deceleration when steering followed,which takes the two front-wheel’s speed difference as the obj ect of two rear-wheel’s speed difference,transport condition of EV fleetly and accu-rately j udged,and PID algorithm and PWM furnished to control the speed of rear driving wheels.Indica-ted by the simulations with Matlab/Simulink,the drive-control system can ensure that EV goes straight steady and steers differential reliably.