多用途轮式自动行走小车的设计 摘要 本文针对电动车的理想车型——双轮独立驱动电动车的驱动系统，对与上述EV的车辆动力学特性和电动车相关的轮毂式永磁无刷直流电机进行了深入的分析，基于当前电动车（EV）产业的兴起与发展进行了相关的研究和实验验证。 目前电动车发展中的一项关键技术是蓄电池技术，但同时也是电动车的薄弱环节，动力蓄电池已经成为电动车产业化的主要障碍。不同种类的蓄电池拥有不同的性能，而同一类型的蓄电池的不同个体也存在相当大的个体差异，这些差异对蓄电池组的性能会有影响，从而对电动车的整体性能也有影响。本中也涉及了有关电动车动力蓄电池性能的介绍。 电力机车技术的发展越来越受到广泛关注，其中控制系统性能的好坏对电动车的发展越来越重要，控制系统也逐渐引起了人们的关注。控制系统性能的关键是发挥控制系统的最大功效，因此研究电力机车控制系统也已经成为当今电动车领域一个重要的课题。现有的电力机车控制系统包括微机控制系统、逻辑控制系统、显示系统等，关键是如何将他们有机的结合起来并发挥出尽可能大的功效。本的写作过程中查阅了相关的资料，提出了一套以车指令系统+微机控制系统+逻辑控制系统的系统控制策略。 关键词：控制系统；电动汽车的发展; 永磁无刷直流电机;蓄电池技术 ABSTRACT Based o
n the developme
nt of electric vehicles (EVs) i
ndustrial ,this paper describes a
n ideal co
ncept EV, that is a EV has i
ndepe
nde
nt directly drive
n wheels (I
n-wheel EV). The research i
nto drive systems co
ncer
ns theoretical a
nalysis a
nd correlative experime
nt. The research o
n the perma
ne
nt mag
net brushless i
n-wheel motors a
nd vehicle dy
namics used for this
novel EV is prese
nted. As the feeble sectio
n of electric vehicle, power battery was the mai
n obstacle of the i
ndustrializatio
n of electric vehicle. Desig
ni
ng a sou
nd battery ma
nageme
nt system was o
ne of the key tech
nologies of electric vehicles. It was k
now
n that the performa
nce differe
nce amo
ng differe
nt ki
nds of batteries a
nd co
nsiderable i
ndividual differe
nce amo
ng the same ki
nd of battery had great i
nflue
nce o
n the performa
nce of battery team a
nd the whole capability of electric vehicle. This article mai
nly describles the whole capability of power battery of the electric vehi
nle. With the developme
nt of electric locomotive, the performa
nce of locomotive co
ntrol system is more a
nd more took i
nto accou
nt. How to combi
ne the microcomputer co
ntrol system, logic co
ntrol system, display system with locomotive security system, a
nd make the best use of co
ntrol system is task of research of the electric locomotive co
ntrol system. Accordi
ng to the other paper,this article expou
nds a strategy of co
ntrol system based o
n locomotive i
nstructio
n system,microcomputer co
ntrol system, logic co
ntrol system. Key Words: Electric Vehicle; power battery ;Servo system Perma
ne
nt mage
nt brushless DC motor; Lead acid battery 目录 第一章绪论···················································4 1.1研制自动行走小车的意义····································4 1.2电动汽车的发展历史和现状··································4 1.3电动小车的特点及关键技术··································5 1.4本课题的研究内容··········································4 第二章机械设计与双轮驱动···································7 2.1整车设计参数的选取（速度、转矩、功率）·····················7 2.2双轮驱动方案的实施········································7 第三章轮毂电机···············································8 3.1电动小车用电动机选型······································8 3.2永磁直流无刷电机的特点····································8 3.3小车用电机的选择··········································9 第四章电动小车的蓄电池·····································14 4.1蓄电池技术的现状··········································14 4.2蓄电池容量的计算方法······································16 4.3小车用蓄电池的选择········································17 第五章结束语················································19 致谢·····························································20 参考文献························································21