複式電力驅動車之自動路徑追隨與節能動力分配整合控制研究

Research on Integrated Control Combined with Lane Following and Energy-Efficient Traction Distribution for Compound Electric Vehicle

方啟原(Chi-Yuan Fang)

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(2016年)

https://doi.org/10.6342/NTU201603859

摘要

本研究針對一輛擁有多馬達的複式電力驅動車，設計一套可達成車輛自動路徑追隨與節能行車目的之整合控制方法，以使該複式電力驅動車在自動駕駛模式下兼具方便性與節能性。本文所提出之整合控制系統架構包含上/下雙層控制器:上層控制器以模型預測控制(Model Predictive Control)策略為基礎，開發具備內在偏航穩定控制機制之車輛自動路徑追隨控制演算法，以準確計算車輛轉向角度、馬達總驅動力及車輪差動力矩；下層控制器則根據上層控制器之總驅動力與差動力矩分配命令，進行各馬達之節能動力分配。
本研究所提出之整合控制方法實現於Matlab/Simulink控制器開發環境下，並結合了車輛動態模擬軟體CarSim，以進行控制系統之Model in the Loop (MiL)模擬驗證，包括依照NEDC與FTP-72行車循環測試標準下之縱向行駛能耗模擬，以及於不同曲率道路上之等速行車能耗模擬。最後在模擬中使用本論文所提出之複式電力驅動電動車與不同驅動配置架構進行不同模擬情境之行駛比較。模擬結果皆顯示在使用本文所提出之控制方法下，可充分發揮該複式電力驅動系統之特點，同時具備良好之循跡性、車輛動態穩定性與行車節能性。

關鍵字

路徑追隨控制；動力分配；電動車

並列摘要

This research focuses on an integrated control method for an experimental compound traction electric vehicle, the integrated control system is able to combine the ability to perform lane keeping assistance maneuver as well as multiple traction distribution to ensure stability and efficiency during autonomous driving mode. The integrated control structure proposed in this research involves a two-layer design; the upper layer controller utilizes Model Predictive Control as the basis to perform autonomous lane keeping function with yaw stabilizing effect, allowing for precise calculation of the required steering angle, total motor torque and differential traction. The lower layer controller distributes the proper traction proportion to each electric motor according to the total torque command and differential traction required.
The integrated controller proposed in this research operates under Matlab/Simulink environment, combining vehicle dynamics model from CarSim to perform Model in the Loop (MiL) simulation validation, the controllers are tested in the NEDC, FTP-72 standardized scenarios for longitudinal energy efficiency simulation as well as roadways with different curvature. The proposed experimental compound vehicle has also been tested in the simulation with variable traction source configurations and driving scenarios to compare the overall driving efficiency. Simulation showed that the integrated control method proposed in the thesis can adequately demonstrate the characteristics of the compound electric vehicle, at the same time maintaining good lane tracking ability, vehicle stability and driving efficiency.

並列關鍵字

Lane following ； Traction distribution ； EV

參考文獻

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