Control method of electric field vehicle driven by permanent magnet synchronous motor

Abstract

The invention discloses a control method of an electric field vehicle driven by a permanent magnet synchronous motor. The method comprises the following steps: firstly, a motor controller is started, the permanent magnet synchronous motor is powered on, a master processor is initialized, and the AD sampling interruption is activated; secondly, the master processor obtains the position and speed information of the rotor of the permanent magnet synchronous motor acquired by a sensor; thirdly, the master controller performs comparison calculation of the rotating speed and the input reference speed of an accelerator pedal collected by the sensor, so as to obtain the speed deviation and the deviation rate; fourthly, a speed segmented PID control unit selects the corresponding control parameter according to the speed deviation and the deviation rate to obtain a reference current value to be adjusted; and fifthly, a current PID regulator compares the collected current value with the reference current value, and adjusts the motor rotating speed by the SVPWM algorithm. The method has the advantages that the combination of the segmented PID control method and the conventional PID controller not only avoids the complicated redundant calculation of the intelligent control method, but also overcomes the shortcoming that the control parameter of the conventional PID controller cannot be adjusted.

Description

technical field [0001] The invention relates to a control method for an electric track vehicle, in particular to a control method for an electric track vehicle driven by a permanent magnet synchronous motor. Background technique [0002] Ground vehicles are widely used in transfer sites such as equipment handling and cargo deployment. Replacing diesel or gasoline engines with pure electric drives as the driving device for track vehicles has significant advantages, not only can protect the environment, but also alleviate energy shortages, adjust energy structures, and ensure energy security. The track vehicle adopts the electric vehicle drive motor control method, that is, the accelerator pedal controls the current to control the walking speed and output of the track vehicle. However, the electric vehicle drive motor control mode mostly adopts the torque control mode, and the track vehicle as a A special vehicle, its walking and working are two separate processes, it is nece...

AI Technical Summary

Problems solved by technology

The track vehicle adopts the electric vehicle drive motor control method, that is, the accelerator pedal controls the current to control the walking speed and output of the track vehicle. However, the electric vehicle drive motor control mode mostly adopts the torque control mode, and the track vehicle as a For a special vehicle, its walking and working are two separate processes. It is necessary to drive the motor at a certain speed when it stops walking to ensure that the track vehicle can complete the lifting operation. Therefore, the track vehicle needs to have a certain speed when it stops walking. Idle speed, but the current torque control mode to control the motor is difficult to achieve this function

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