雙車輪馬達電動車之車身穩定控制系統

Vehicle Stability Control for an Electric Vehicle with Dual Wheel Motors

施昌沅(Chang-Yuan Shih)

指導教授 ： 陽毅平

國立臺灣大學/工學院/機械工程學研究所/碩士(2012年)

https://doi.org/10.6342/NTU.2012.00295

摘要

本文研究重點在於提出一種改良型偏擺控制法則來提升車身穩定性。傳統型偏擺控制器主要是透過分配左右輪馬達力矩或者分配左右輪煞車力矩，來產生適當的偏擺扭矩，藉以改變車體轉向特性。由於馬達有著快速響應且擁有可精準控制力矩的特性，因此能在轉向時立即改善車體行為。但是輪轂馬達所能提供的偏擺扭矩卻遠不如液壓煞車系統。有鑑於此，本文為了能同時擁有馬達的快速響應，以及液壓煞車系統的高力矩輸出的特性，透過所提出的力矩分配法則來結合此兩種完全相反的力矩，以提高車身穩定性。本文更結合了模型追隨控制器(model following controller, MFC)、負載估測器、速度控制器、防鎖死煞車系統(anti-lock braking system, ABS)以及循跡防滑系統(traction control system, TCS)建構出完整的車體穩定系統，以應付各種不同路面狀況。
本文亦建構一套硬體即時模擬平台(hardware-in –the-loop, HIL)來驗證所提出的改良型偏擺控制器與實體驅動器的可靠度，透過此線上即時模擬結果顯示，本研究所提出的偏擺控制器可確實提供比傳統型偏擺控制器更優異的穩定性。

關鍵字

偏擺控制 ； 輪毂馬達 ； 模型追隨控制器 ； 循跡防滑控制 ； 防鎖死煞車系統 ； 即時線上

並列摘要

The purpose of this thesis is to propose an advanced direct yaw moment controller to improve the stability of vehicles. Conventional direct yaw moment controller usually generated yaw moment to change the characteristic of steering through distributing the torque of wheel motor or the torque of braking system. As the features of motor can provide having a quick response and able to generate torque in accurate measures, and therefore it can correct the vehicle's behavior immediately while having a turn. On the other hand, those yaw moment generated by in-wheel motors far fewer than which able to be generated by the hydraulic braking system. Based on the mentioned above, we are going to design a rule of torque distribution combining two opposite torque, those from the wheel motors and braking systems, in order to benefit from both characteristics of short reaction time and the high torque output. In this thesis, there is a vehicle stabilizing system constructed to overcome different situations, this system is implemented with model following controller(MFC), loading observer, speed controller, anti-lock braking system(ABS) and traction control system (TCS).
Lastly, we built a hardware-in-the-loop to verify the reliability of the improved direct yaw moment controller and the real-life driver. The results from the real-time online simulator show the improved direct yaw moment controller do offer a better stability than the conventional direct yaw moment controller as we proposed.

並列關鍵字

Direct yaw moment control ； In-wheel motor ； Model following controller ； Traction control system ； Anti-lock braking system ； Hardware-in-the-loop ； Real-time

參考文獻

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