摘  要：为了保证电动车平稳越障，要求驱动系统能够在电动和制动状态下平稳运行。该文对电动车驱动用电机驱动控制系统进行了研究。为了解决传统霍尔测速方法准确性和快速性相互制约的问题，提出了一种改进的霍尔测速方法，实验证实这种方法能够同时保证测速的准确性和快速性。为了实现电动车越障时在上坡、平地和下坡等不同路况下稳定运行，研究了受限单极性模式下的混合制动和双极性模式两种驱动方式。理论分析和实验表明，两种驱动方式均可以实现电动车平稳越障。
关键词：电动车；测速方法；驱动方式；平稳越障

Abstract: Driving system is required to operate steadily under electric and braking states to guarantee the smooth obstacle. The control system using in the electric vehicle was researched in this paper. An improved method of Hall speed measurement was proposed to solve the constraints between accuracy and rapidity in conventional Hall speed measurement methods. Experiment results confirmed the validity of the proposed method. The composite braking of restricted unipolar mode and bipolar mode were explored to realize the stable operation of the electric vehicle in the process of ascending, level and falling gradient. Theoretical analysis and experiment results show that the electric vehicle can achieve smooth obstacle using the two driving modes.
Key words: electirc vehicle; speed measurement; drive mode; smooth obstacle