中文摘要：

柴油发电机组提供电源、永磁无刷直流电机独立驱动是目前电动轮车辆采用的结构形式,为了更好地实现整车低速度大扭矩高效运输,制定合理高效驱动电机控制系统显得尤为重要。根据永磁无刷直流电机的结构特点和性能特征,针对牵引电机的不同驱动转矩分配控制进行研究,并搭建系统的数学模型。在ADAMS/View中搭建简化的电动轮多电机驱动六轮平地机虚拟样机模型,并在Simulink中搭建简化的转矩控制系统模型,基于以上模型建立整车和控制系统联合仿真分析模型,对不同转矩控制方案在车辆运行中的控制特点进行对比分析。搭建地面台架模拟试验测试系统,对开环控制下,转向过程中,内、外侧轮转速和转矩的变化趋势及其对车辆转向特性的影响进行分析;采用不同的控制方案对前轮转向过程进行分析,以等状态转矩控制车辆复合转向,对比分析各种控制方法的转向控制特性和自适应差速效果,试验分析结果验证控制系统和模型仿真的准确性与可靠性,为此类车辆设计研究提供参考。

英文摘要：

The diesel generators to provide power and permanent magnet brushless DC motor independent drive is cur- rently used in the structure of electric drive wheel vehicle. In order to achieve low speed and high torque in transport, the formulated reasonable and efficient driving motor control system is particularly important. According to the structural char- acteristics and performance characteristics of permanent magnet brushless DC motor, to the different driving torque distribu- tion of traction motor control research, the mathematical model of the system was built. The virtual prototype model of the simplified electric wheel motor was built based on ADAMS/View, and the simplified model of the torque control system was built based on Simulink. Based on the above model, the integrated simulation analysis model of the vehicle and the control system was established. The control characteristics of different torque control method in vehicle operation were analyzed. The ground test bench simulation test system was built to analyze the changing trend of the rotation speed and torque of the steering wheel and the effect on the steering characteristics of the vehicle. The steering process of the front wheel was ana- lyzed by using different control methods. The steering control and adaptive differential effect of various control methods were compared. The accuracy of the control system and the model simulation are verified by the experimental results, which pro- vide reference for the design and research of this kind of vehicle.