The invention discloses an unmanned intelligent sweeper driving motor control method and system, and belongs to the technical field of unmanned automobiles. The invention mainly aims at solving the problem that complex disturbance such as road surface pits, climbing and continuous change of garbage weight on a vehicle affects motor control precision, and proposes the control scheme that the methodcomprises the following steps: establishing a kinetic model of an unmanned intelligent sweeper driving motor with unknown disturbance; converting a nonlinear system into an equivalent dynamic linearized data model with disturbance; designing a sliding mode observer to estimate and calculate unknown disturbance quantity; calculating an external speed loop pseudo partial derivative estimation law,and designing an external speed loop model-free adaptive controller with disturbance; designing an internal current loop model-free adaptive controller, and forming a cascade model-free control structure with an external speed loop; performing vector coordinate transformation on the collected current signals, inputting the current signals into the system, acquiring a given voltage value under a two-phase static coordinate system through Park inverse transformation, and then achieving speed adjustment of the driving motor. According to the anti-interference cascade model-free adaptive control method disclosed by the invention, a driving motor of an unmanned intelligent sweeper can have better speed tracking precision and stronger anti-interference capability under the influence of unknown disturbance, thereby improving the speed regulation performance of the driving motor, and meeting the requirements of the motor control of the unmanned intelligent sweeper driving system on speed regulation.

    本发明公开一种针对无人智能清扫车驱动电机控制方法及系统,属于无人驾驶汽车技术领域。本发明主要针对路面坑洼、爬坡及车上垃圾重量不断变化等复杂扰动影响电机控制精度问题,控制方案如下:建立带未知扰动的无人智能清扫车驱动电机的动力学模型;将非线性系统转化为带扰动的等价动态线性化数据模型;设计滑模观测器估计计算未知扰动量;计算外速度环伪偏导数估计律,并设计带扰动的外速度环无模型自适应控制器;设计内电流环无模型自适应控制器,与外速度环形成串级无模型控制结构;对采集的电流信号进行矢量坐标变换,并输入上述系统经Park反变换得到两相静止坐标系下的给定电压值,进而实现对驱动电机的速度调节;本发明公开的抗扰串级无模型自适应控制方法可以使无人智能清扫车驱动电机在未知扰动影响下,具有较好的速度跟踪精度和较强的抗干扰能力,提高了驱动电机的调速性能,满足了无人智能清扫车驱动系统电机控制对速度调节的要求。


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    Titel :

    Unmanned intelligent sweeper driving motor control method and system


    Weitere Titelangaben:

    一种无人智能清扫车驱动电机控制方法及系统


    Beteiligte:
    YAO WENLONG (Autor:in) / PANG ZHEN (Autor:in) / WANG JIALI (Autor:in) / CHI RONGHU (Autor:in) / SHAO WEI (Autor:in) / LI BOYANG (Autor:in)

    Erscheinungsdatum :

    2020-05-12


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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