The invention discloses a differential steering control method of a vehicle, which is used for a motor system comprising a three-phase bridge type voltage inverter, and relates to the technical field of motor modulation, and comprises the following steps: collecting a motor feedback speed; setting a vehicle target speed; the feedback speed and the target speed are compared, and a current given value of the motor is obtained through a PID controller; collecting a current feedback value of the motor; comparing the current given value with the current feedback value, and obtaining a voltage given value of the motor through a PID controller; the modulation ratio M of the voltage vector of the motor is calculated, and when M is larger than M0, the motor enters an overmodulation mode; in the overmodulation mode, according to a voltage given value, a voltage space vector and a corresponding duty ratio value of the motor are obtained through PWM calculation; outputting a control signal to an inverter by utilizing a DSP according to the voltage space vector of the motor and the corresponding duty ratio value, and carrying out overmodulation control on the motor; the motor controls differential steering of the vehicle through PWM signals. And the differential steering control precision of the vehicle is improved.

    本申请公开了一种车辆的差速转向控制方法,用于包含三相桥式电压型逆变器的电机系统,涉及电机调制技术领域,包括:采集电机反馈速度;设置车辆目标速度;比对反馈速度和目标速度,通过PID控制器获得电机的电流给定值;采集电机的电流反馈值;比对电流给定值和电流反馈值,通过PID控制器获得电机的电压给定值;计算电机的电压矢量的调制比M,当M大于M0时,电机进入过调制模式;在过调制模式下,根据电压给定值,利用PWM计算获得电机的电压空间矢量和对应的占空比值;利用DSP,根据电机的电压空间矢量和对应的占空比值,输出控制信号至逆变器,进行电机的过调制控制;电机通过PWM信号控制车辆的差速转向。提高了车辆的差速转向控制精度。


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    Title :

    Differential steering control method of vehicle


    Additional title:

    一种车辆的差速转向控制方法


    Contributors:
    XU ZHONG (author) / XU SHUGEN (author)

    Publication date :

    2024-02-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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