Study On The Coordinated Control Technology Of Multi In-wheel Motor

With the appearance of global warning, petroleum crisis and other problems, Electric Vehicle(EV) has become a research hotspot for vehicle industry development. Key EV technologies include control of the motor, vehicle integration control, the technology of battery, etc. For active wheel electric vehicle, as a unique development direction, it does not only need to conduct precise control on single driving motor speed, but to conduct control on speed coordination among all the driving motors. With active wheel electric vehicle as research object, the thesis sets out a double dual motor driving coordination control system of multi-singlechip structure focused on STM32F103RBT6 for vehicle control and ds PIC33FJ64MC804 for motor control, and conducts relevant research and analysis.The thesis makes research on coordination control strategy for dual motor driving EV based on reasonable design and establishment of brushless DC motor driving control system. And it also sets out coordination control strategy based on feedback control theory against problems of unevenly distributed vehicle quality, inequality of driving roads, different loads on the left and right driving motors, dynamic error due to motor rotating speeds, vehicle off tracking on straight lines, and speed differential and differential deviation during steering process, and conducts bi-directional dynamic compensation to the rotating speeds of the right and left driving motors. The feedback signals are delivered both in the left and right motors, which makes the entire system in a closed-loop status.In the environment of Matlab7.1.2.0/Simulink, it conducts modeling and simulation to motor driving control system and dual motor coordination control strategy. It shows in the analysis on simulation results that based on the closed-loop control of motor PID speed, feed back the real-time motor speed to the coordination control module at the same time and there are feedback signals delivered both in the left and right motors to make the entire system in closed-loop status. Status change of any motor will change the status of other motors, and the entire coordination control system has excellent load tracking performance.According to the proposed dual motor coordination control strategy, the thesis designs and sets a dual motor driving EV coordination control system of multi-singlechip structure focused on STM32F103RBT6 for vehicle control and ds PIC33FJ64MC804 for motor control, which includes system hardware design, software design and CAN communication bus design. After conducting hardware test and software debugging to the control system, debug and test the entire established control system on the four-wheel driving electric vehicle sample, This shows that the coordination control strategy can well meet the requirements for coordination control on vehicles when driving straight and swerving.