| Permanent magnet brushless DC in-wheel motor is wildly used because of its simple structure,high power density,simple maintenance and the convenience to realize all-wheel drive.In-wheel motor is connected directly to vehicle wheel,which leaves out the transmission mechanism used in conventional vehicle,simplifies the structure of the vehicle,improving transmission efficiency.Since the wheel and in-wheel motor is connected,the control of the motor will affect the control and operation performance of the whole vehicle,especially the speed controlling which impact the riding stability directly.The paper analyzed mathematical model of permanent magnet brushless DC motor and its control system simulation model was established in the MATLAB/Simulink,adopting double closed-loop control,which contains the outer ring of speed-loop PI control and inner current hysteresis control to the BLDCM(brushless DC motor).According to split ring control and speed closed loop PI control strategy for off-line simulation,it is concluded that PI control can speed up the speed response of the motor,but cannot ensure the motor rotate stably at every rotation rate,with poor adaptation.In order to solve this problem,fuzzy PI control was applied to closed-loop speed control of the motor.The simulation result indicated that both the low and the high speed,algorithm can make motor track the given speed,quickly and stably,verifying the effectiveness of the speed of fuzzy PI control algorithm.To test actual effect of the control algorithm further,simulation experimental hardware circuit of BLDCM was designed,rapid control prototype(RCP)experiment platform based on d SPACE was established.Online simulation was conducted to verify the control strategy,the experimental results show that the proposed fuzzy PI control strategy can effectively improve motor performance of speed adjustment,laying the foundation of enhancing electric vehicle driving stability equipped with the permanent magnet brushless dc in-wheel motor. |
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