使用模型預測控制策略之複式電力推進電動車安全穩定控制研究

Research on Safety and Stability Control for a Compound Electric Propulsion Vehicle Using the Model Predictive Control Strategy

張旭沅(Hsu-Yuan Chang)

指導教授 ： 李綱

國立臺灣大學/工學院/機械工程學研究所/碩士(2014年)

https://doi.org/10.6342/NTU.2014.00722

摘要

本論文提出了以模型預測控制器(Model predictive controller)設計之車輛動態控制系統，並以保持車輛動態穩定為目的進行輪胎力之分配。於控制器設計中，分為上下層控制器，上層控制器為模型預測控制器設計之車輛安全穩定控制系統，在此系統之決定各輪之力分配，下層控制器接受此輪胎力分配命令，並依此命令對馬達系統或液壓系統進行控制，同時也監控並穩定輪胎狀態。以直接力矩控制演算法則當作比較對象，進行車輛之動態模擬，以檢驗此車輛安全穩定控制器之性能。同時在模擬中使用本論文開發之車輛安全穩定控制器，進行不同驅動配置之電動車進行車輛動態響應之綜合比較。最後以硬體迴圈模擬實驗驗證實現此控制器之可行性。

關鍵字

模型預測控制 ； 複式電力推進電動車 ； 安全穩定控制

並列摘要

In this research, a model predictive control-based vehicle safety and stability control algorithm is proposed to stabilize vehicle through tire force distribution. The hierarchical control architecture including upper and lower controller is employed. In the upper controller, the driver’s intention and vehicle states are obtained. And the model predictive control theorem is utilized. The MPC-based controller determines the tire force distribution. The lower controller fulfills the desired forces for each wheel by coordinating motor output torque or frictional braking torque with preventing wheels from slip/locking. The performance of the MPC-based safety and stability controller is compared with the performance of the direct yaw moment controller. And the comparison among different types of powertrain configuration is made. Finally, the hardware-in-the-loop simulation (HiLS) is conducted to evaluate the performance of the proposed MPC-based vehicle safety and stability controller.

並列關鍵字

Model predictive control ； Compound electric propulsion vehicle ； Safety and stability control

參考文獻

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