Reseached On Intelligent Motor Controller Of Electric Ground Training Vehicles Based On MC9S12XS128

With the rapid development of the national economy and the automotive industry, carhas become a common means of transport, and driving skills has become a kind of essentialability, so driving coaches demand has been growing. Traditional fuel cars, on the other hand,faces the double problem of environment and energy. Combined with the training vehicles’characteristics of low speed running, they will emit more exhaust, so the research andapplication of zero emission electric training vehicles is imperative.This design is completed under the projects funding of Xi’an technology bureau’sproject "small pure electric training vehicles power system matching and optimizationdesign"(NO.CX1249④) and the central university innovation team project "Key techniquesresearch of plug-in small electric training vehicles"(NO.2013g3222004). According to thecharacteristics of coaches, make a contrast of electric vehicle and fuel vehicle handlingcharacteristics, determine the electric training vehicles drive arrangement form, according tothe drive motor work requirements, make a contrast of motor types which is the keycomponents in the drive system, then select drive motor type and introduce the principle ofmotor speed regulation. Complete electric training vehicles power system structure design.According to the request of coaches controller function, choose freescale microcontrollercomplete motor controller hardware circuit design, including minimum system circuit, powercircuit, input and output signal processing circuit and motor drive circuit, provides hardwaresupport for software programming. Combining PID and fuzzy control to design a fuzzyadaptive PID controller, implement and optimize motor speed closed loop control process,establish controller model and simulate speed changing process in the SIMULINK. Resultsshow that the fuzzy adaptive PID compared with the classical PID controller havingadvantage of fast response, less overshoot, strong robustness and good control effect. Finally,develop electric training vehicles control strategy. Based on the control strategy, set the mainprogram and the flow chart of each module which implements start, idle speed, accelerationof the vehicle operation condition, the protection of the motor, controller and traditional fuel car clutch simulation operation function, complete the writing of the program. Test controllerfunction on the test board, validate control process and the feasibility and rationality of thealgorithm.The results show that the controller can realize start, idle speed, acceleration，brake，hardware protecting function and can simulate the parking phenomena caused by improperoperation in the process of traditional fuel vehicles’ start, meet the requirements of control ofelectric training vehicles.