全向自动驾驶汽车的永磁同步电机转向控制

2020 2nd International Conference on Smart Power & Internet Energy Systems (SPIES) Pub Date : 2020-09-15 DOI:10.1109/SPIES48661.2020.9242943

Cao Shuyu, T. Tak, Wei Feng, Choo Jian Huei, Kenneth Sng Eng Kian, Luh Yip-Ping

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引用次数: 0

摘要

提出了一种用于全向自动驾驶智能汽车永磁同步电机转向伺服控制的位置轨迹控制和速度轨迹前馈控制方案。该控制方案可以在最小的动态加减速电流下实现平稳、准确的转向运动。根据应用需求，自动驾驶汽车的最终用户可以通过适当设置最大转向速度和最大转向运动加速度来自由配置转向伺服运动的动态性能。

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Permanent Magnet Synchronous Motor Steering Control for Omnidirectional Autonomous Vehicle

This paper presents a position trajectory control and velocity trajectory feedforward control scheme implemented in the permanent magnet synchronous motor (PMAC) steering servo control for omnidirectional autonomous intelligent vehicles. With this proposed control scheme, smooth and accurate steering motion can be achieved with minimized dynamic acceleration and deceleration current. Depending on the application requirements, the end-users of autonomous vehicles will have the freedom to configure the dynamic performance of the steering servo motion with proper settings of the maximum steering speed and the maximum steering motion acceleration rate.

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来源期刊

2020 2nd International Conference on Smart Power & Internet Energy Systems (SPIES)

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