牽引力控制於多動力電動車系統整合與實車驗證

System Integration and Test of Traction Control to an Electric Vehicle Driven by Multiple Motors

呂冠廷(Kuan-Ting Lu)

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(2021年)

https://doi.org/10.6342/NTU202100751

摘要

本研究旨在實現在多動力馬達電動車架構底下，車身穩定系統中牽引力控制系統的實車驗證，以證實本實驗室提出的多動力馬達電動車之駕駛策略整合。
本實驗以實驗室之電動車作為實驗架構，此電動車之動力架構採用15-kW直流無刷馬達搭配傳動齒輪箱，作為前輪之間接驅動動力源；後輪則由兩顆7-kW永磁同步馬達置於輪內，作為後輪之直接驅動動力源，並配有三電池組提供能量來源，於財團法人車輛研究測試中心(Automotive Researching Testing Center)之煞車性能測試道與滑行測試道進行牽引力控制系統(traction control system)於直行時的實車測試
本研究套用一新型整合單輪分析及整車分析輪胎縱向力複合估測法，估測輪胎力(Fx ,Fy ,Fz )，使行車時能在滿足駕駛者的加速性需求下，將行車效率最佳化，並且避免輪胎打滑與轉向失控的問題。使多動力馬達在動力分配的同時也能達到安全策略地實踐。最終目的為提出一套完整的多動力馬達電動車，兼具節能與車身穩定的電動車架構

關鍵字

輪胎力估測器 ； 複合估測法 ； 粒子群最佳化法 ； 節能行車策略 ； 車身穩定系統 ； 力矩分配 ； 電動車 ； 車身穩定 ； 節能 ； 滑模控制

並列摘要

This research aims to implement and verify the stability of the traction control system in the real vehicle under the multi-power motor electric vehicle architecture instead of only simulation, to confirm the integration of the driving strategy of the multi-power motor electric vehicle proposed by this thesis.
Our laboratory designed an electric car as a advanced framework. The power framework of this electric car uses a 15-kW DC brushless motor with a transmission gear box as the driving power source between the front wheels; the rear wheels are composed of two 7-kW permanent magnets, and the synchronous motor is placed in the wheel as the direct drive power source for the rear wheel. They are equipped with a three-battery pack to provide an energy source. For testing the traction control system, planning to go to the Automotive Researching Testing Center, and get the braking performance test track and sliding test track for testing the implement of tracking control system for real vehicle when going straight.
The research applies a new integrated single-wheel analysis and vehicle analysis tire longitudinal force composite estimation method to estimate the tire force (Fx, Fy, Fz) for providing to the tracking control system as parameter, under the driving efficiency improved, optimizing and avoiding the problems of tire slip before out of control, at the same time, satisficing the driver’s acceleration requirements.
The ultimate goal is finished the real car implement and propose a complete set of multi-power motor electric vehicles, an electric vehicle architecture that combines energy saving and vehicle stability.

並列關鍵字

tire force estimator ； compound estimation method ； Prticle swarm optimization method ； energy-saving driving strategy ； body stability system ； torque distribution ； electric vehicle ； body stability ； energy saving ； sliding mode control

參考文獻

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[2] 施昌沅, 雙車輪馬達電動車之車身穩定控制系統, 碩士論文, 國立台灣大學, 台北, 2012.

[3] 陳建國, 複合輪胎力估測器於多動力馬達電動車驅動力矩分配策略之整合應用, 碩士論文, 國立台灣大學, 台北, 2016.

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