摘要
近年來環保問題，如環境汙染、有限的石油資源及化石燃料價格的急劇上升，對新世代汽車的發展而言是個巨大的挑戰，因此大量的研究和發展活動均轉向電動車輛方面之研究。而新一代之電動車驅動科技是將一個馬達裝於車輪內，把煞車系統和驅動系統整合在一起的輪內馬達控制技術，直接驅動輪子前進，但此種技術車輪馬達之輸出扭力較高，而且對於輪軸馬達的轉矩及相關轉速、車速控制也是重要的討論因素。此外車輛在濕滑地面起步或高速經過水灘路面時，電動車驅動輪之加速滑差會增大，使得輪胎與路面間之附著力降低，極易發生打滑現象，而導致車輛失控，且在現實生活中，由於路面鋪設材料及使用狀況的不同，例如：在積水、積沙、結冰等路段，並不如理想狀況均勻完美，其路面的摩擦係數差異更是大，因此其滑差控制將能有效地提高車輛的行駛安全，進而增加行車之穩定性與安全性。本論文研究方法則是利用自組織模糊控制理論(SOFC)來控制輪內馬達(in-wheel motor)之轉速及扭力，進而控制車速，已達成車輛動態控制系統穩定及防滑之目的。
並列摘要
In recent years, the environmental protection problems such as pollution, limited crude oil resources, and drastic rises in fossil fuel prices are great challenges for the new generation of automotive development. Therefore, a lot of researches and development activities are focused on electric vehicles research. The new generation of electric vehicles driven technology is motor installed inside the wheel. The brake system and drive system was integrated with the wheel motor control technology. For such driving technology, the wheel motor output torque is relatively large, and the wheel motor torque control and rotation speed control are important discussing factors. In addition, when vehicles running in the wet ground or driving across slippery road surface with high speed, the acceleration slip of the electric vehicles driving wheel will be increase, and the adhesion between tire and road surface will be reduced to include vehicle slip phenomenon, or vehicle out of control. Moreover, the road surface is not as the ideal perfect and uniform, for example, water surface, sand surface or ice surface, etc. Then, the road surface friction coefficient is greater difference. Therefore, the slip control can effectively improve the safety of the vehicles, and increase the vehicle driving stability and security. In this study, the self-organizing fuzzy control theory (SOFC) is using to control the rotational speed and motor torque of the in-wheel motor, and then the vehicle speed. Finally, the vehicles anti-slip stability control problem is studied.