- 學位論文
雙後輪轂馬達驅動之電動車運動與防滑控制
Anti-Slip and Motion Control of An Electric Vehicle Driven by two Rear Wheel Motors
若您是本文的作者，可授權文章由華藝線上圖書館中協助推廣。
摘要
本論文提出對雙後輪驅動之電動轎車的電流分配控制與防滑控制策略。此電動轎車雙後輪各配置一個直接驅動型輪毂馬達，其性能參數可能因製造或老化有所不同，各輪接觸之路面狀況也不同，即各輪負載會隨時間改變，因而相同電流輸入各輪產生的力矩可能不同。 本研究的電流分配控制策略利用模型追隨控制，將駕駛者的電流命令轉換為速度命令，使雙後輪毂馬達直行時接收相同命令而轉速相同；在轉向時經計算將電流分配到雙後輪的模型追隨方塊，使後輪產生轉向所需的速度差。此外本文利用速度命令補償方式，確保駕駛者電流命令大於馬達輸入總電流。而防滑控制策略在於利用負載估測器，即時估算路面所能給予的最大推進力，若馬達輸出力矩大於估算值時，系統會降低輸入電流，使馬達輸出力矩降低，減輕車輛的打滑。 本研究經數學證明與Matlab上建模與模擬，在各種不同路面狀況下，控制系統均為穩定，且可確保駕駛者電流命令大於馬達總電流，且在路面摩擦力變小時有效降低馬達輸出力矩，減輕打滑的發生。
並列摘要
This paper proposes a current distribution control and an anti-alip control for an electric vehicle driven by two rear wheel motors. Two wheel motors are installed inside the two rear wheels of an electric vehicle. The performance of motors may be different due to imperfect manufacturing or aging, and the road conditions may vary from time to time. Therefore, for the same current input may result in a different output torque on each wheel. To guarantee the two wheel motors to receive the same speed-control command when driving forward, the driver’s current command is transferred to the speed-control command in accordance with a model-following control(MFC). Also by appropriate current distribution of two MFCs, two rear wheel motors generate different speed for vehicle to make turn. A velocity command compensation is used to make sure that driver's current command is no less than the total current supply to motors. The key of anti-slip control scheme is also proposed. The maximum driving force is estimated and compared with the driving force produced by motors whose torque is identified by a load estimator. If motor torque is larger than the load torque, the control system will reduce the current command which causes motor to decelerate to prevent the vehicle from slipping, and reduce the slip of vehicle. In this thesis, the control scheme is proved to be stable in all conditions. The model is constructed and simulated on Matlab. Simulation results show that the vehicle can be driven in such a safe condition that the current supplied to both wheels must be always less than the driver's current cpmmand, and the output torque of motor is adjusted to prevent the vehicle from slipping.
參考文獻
[19] 辛憲壹，“直驅式電動汽車之運動控制”，國立台灣大學機械工程學研究所碩士論文，96年10月。
[7] F. I. Ahmed, A. M. El-Tobshy, A. A. Mahfouz, and M. M. S. Ibrahim, “P-I and I-P controllers in a closed loop for DC motor drives,” in IEEE Conference on Power Conversion, Nagaoka, Japan, Aug. 1997, vol.2, pp.613-618.
[8] K. Y. Cheng, C. Y. Wang, and Y. Y. Tzou, “ASIC implementation of a programmable servo control IC with digital phase-locked loop,” in IEEE Conference on Power Electronics Specialists, Cairns, Qld. , Australia, Jun. 2002, vol.2, pp.558-563.
[9] K. Ohishi, and Y. Nakamura, “Robust speed servo system for wide speed range based on instantaneous speed observer and disturbance observer,” in IEEE Conference on Advanced Motion Control, Mie, Japan, Mar. 1996, vol.1, pp.326-331.
[10] T. Senjyu, H. Kamifurutono, and K. Uezato, “Robust speed control of DC servo motor based on Lyapunov's direct method,” in IEEE Conference on Power Electronics Specialists, Taipei, Taiwan, Jun. 1994, vol.1, pp.522-527.