Abstract
In order to synchronize the multi-motor system, a novel method for this system based on CAN bus and embedded control terminal is presented in this paper. A controller of the electric vehicle with multi-brushless-DC-motor system is designed, and the strategy with the function of synchronous control is also completed. According to the requirements of this system, a distributed control structure which based on Hierarchical Approach is chosen. The hardware platform of this structure is composed of embedded control terminal, master controller and sub-controllers, on this platform every in-wheel motor could be driven independently via the CAN bus. The control terminal is used to control the moving status of the EV. The control terminal chooses open-coded, occupies the hard real-time inner- core colonC/OS-II, transplants open-coded graph bank colonC/GUI and uses touch panel as the input device. At the end of this paper, the experiment results verified that the multi-motor system is reliable, the control strategy is rational, and the electric vehicle applied this multi-motor system has better dynamic response and higher reliability.
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