- 學位論文
適應性速度控制於電動車輛差速系統之應用
Adaptive Control and its Application to Electric Differential System of Electric Vehicle
摘要
本文主旨為將適應性控制理論應用於電動車之雙驅動馬達上，憑藉適應性控制本身優異的抗負載能力與估測系統參數的功能，設計一搭配線上PI控制器之自我調適型適應速度控制器，可有效地處理電動車於行駛時車輪馬達所遭受之無法預期之外界負載干擾，或是馬達系統參數的微小擾動對馬達造成的不良影響，提高車身的強韌性。 除了以適應性速度控制器為主體架構外，訴諸於行車時的性能要求，亦搭配模型追隨控制器、負載觀測器與滑差控制器，此完整的控制架構能確保車輛於直行時，維持兩驅動輪的等速。至於車輛轉向方面，則利用已應用廣泛的直接搖擺力矩控制器對兩驅動馬達做合適的速度、力矩分配，以達成轉向時的順暢度與穩定性。 本文使用MATLAB/Simulink軟體建立模型並驗證本文差速控制系統的性能。實驗部份則採用FPGA數位晶片與電腦配合，並於電腦內建一虛擬馬達搭配現有之真實馬達，實現適應性速度控制策略，最後針對實驗數據進行分析與討論。
並列摘要
The objective of this thesis is to apply the adaptive algorithm on dual driven motors in an electric vehicle. According to the ability of system identification and the superior capability of suppressing load disturbances of the adaptive controller, an adaptive speed controller with on-line PI controller is designed to cope with the unanticipated interference from the surroundings, or to overcome the slight perturbation of parameters which might be harmful to the system. Furthermore, this control method can improve the robustness of whole vehicle. Appeal to the good performance when driving, the hierarchical control structure also comprises Model Following Control, Load Observer and Slip Ratio Controller besides the primary adaptive speed controller. This control structure ensures that the vehicle can maintain two driven motors at a synchronous speed when moving straightly. However, when the vehicle is cornering, the Direct Yaw-moment Control is applied to distribute the speed and torque of the dual motors appropriately so that the cornering behavior of the vehicle becomes more stable and comfortable. Finally, MATLAB/Simulink is uesd to set up the model and numerically simulate for the proposed control structure. However, a FPGA digital chip and PC are integrated to implement the adaptive speed control strategy which consists of a real motor and a virtual motor established in PC, then analyse the experimental results in detail.