关键词: 兵器科学与技术, 双侧电机驱动, 转速差, 转矩补偿控制, 模糊PI

Abstract: A torque compensate control method is proposed on the basis of the speed difference between two motors in the dualmotor electric drive armored vehicle to solve the deviation problem when the vehicle runs in straightline. The speeds of two motors are measured in real time, and the speed difference between them is the controller input. The total required torque is constant by adding the torque output of lowspeed motor and reducing the torque output of highspeed motor in the compensate control system. A fuzzy controller with double inputs and double outputs is designed, which could regulate the PI control parameters to weaken the influence of vehicle kinetics nonlinear factor. The vehicle simulation and experiment results of test bench and road show that two motor target torques could be adjusted in real time to keep the speeds of two motors same by using the torque compensate fuzzy PI controller, and the vehicle runs in straightline stably.

Key words: ordnance science and technology, dualmotor electric drive, speed difference, torque compensate control, fuzzy PI