電動車線控煞車性能自動診斷系統之研究

Fault Diagnosis of By-wire Braking System of Electric Vehicle

湯道恩(Tao-En Tang)

指導教授 ： 林巍聳

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2009年)

https://doi.org/10.6342/NTU.2009.02947

摘要

線傳電動車用電訊號操控車輛，由於不受機械連桿和液壓管路的束縛，因此結構輕盈操縱靈活，其中線控煞車系統與駕駛人的安全、車輛的操控性能息息相關，自動診斷該系統的有效性可以達成主動式安全防護的目的。本研究藉由估測煞車卡鉗與煞車碟之間的摩擦係數以及路面對輪胎的制動力，研判線控煞車系統的有效性。本研究提出用無跡卡爾曼濾波器解決車輛的多维度非線性系統估測問題，該濾波器根據可測量的變數來估測不能直接量測的摩擦係數和煞車力，並利用所估測的變數來建構電動車線控煞車性能自動診斷系統，整體設計經過樣車模擬測試各種路面狀況，結果顯示可以達成自動偵測並診斷的目標。

關鍵字

卡爾曼濾波器 ； 無跡卡爾曼濾波器 ； 電動車 ； 線控煞車 ； 主動式安全

並列摘要

Without mechanical shafts and pipeline of hydraulic pressure, by-wire electric vehicles use electrical signal to achieve control that makes the vehicle lithe and nimble. Specifically, the by-wire braking system enables the electric vehicle to implement active safety control. Undoubtedly, the effectiveness of the by-wire braking system is an important knowledge of vehicle drive. This thesis proposes a fault-diagnosis system to find out braking components on the brink of ceasing effectiveness. The concept is to progressively estimate the parameters of the braking system and based on them judge is made to point out significant degradation or fault. The unscented Kalman filter enforces the fault-diagnosis system more adaptive for dealing with the vehicle’s nonlinear dynamics. Judge for detection refers to the brake disk-pad friction, the surface-tire friction force and some measurable variables. The unscented Kalman filter provides estimates to the brake disk-pad friction and the surface-tire friction force. The fault-diagnosis system is testified with a prototype car under different road conditions. The results show that the system can detect fault or significant degradation occurring in the by-wire braking system.

並列關鍵字

Kalman filter ； unscented Kalman filter ； electric vehicle ； by-wire braking ； active safety

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