- 學位論文
電子式駐煞車上坡起步輔助控制之設計與分析
Design and Analysis of Hill Start Assist Control for an Electric Parking Brake System
摘要
一般配備電子式駐煞車之車輛，其上坡起步輔助系統，大多係利用開迴路之控制方式，即電腦在接收駕駛踩踏油門的指令後，經固定時間後釋放電子駐煞車；或使用陀螺儀、重力感知器及水平儀等感測道路坡度，再因應不同道路坡度，設定不同的釋放時機，但如此一來，因使用繁多及昂貴的感知器，將會增加產品成本，或在不精確的控制下，造成能源多餘的損耗與行車安全之疑慮。 本文將提出一道路坡度估測器，估測出車輛當下所處之道路坡度，配合力矩感知器量測出之驅動軸之力矩，計算出該坡度下駐煞車所需提供之煞車力矩，並轉換為馬達轉角訊號，透過本文所設計之lead馬達轉角控制器，控制電子駐煞車之伺服馬達，達到煞停後自動駐車和上坡起步輔助的目的。本文使用MATLAB /Simulink為平台，模擬車輛行駛於12%與20%之斜坡路面時，經控制器控制後，馬達轉角與電子駐煞車之煞車力矩響應，以及車輛產生的速度與位移響應。 本文所提出之上坡起步輔助系統，因不需使用陀螺儀等昂貴的感知器，故有低生產成本之優勢，此外，本文所提出之控制策略，能因應駕駛踩踏油門不同角度當下引擎所輸出之力矩，精確的控制煞車力，將以最安全及省能的方式，完成煞停後自動駐車及上坡起步輔助之工作。
並列摘要
The vehicle which equip EPB, it hill start assistant system are most use of open-loop control. When it gets the signal from driver’s step on the throttle, the controller will release the EPB after a moment. Or using gyroscope、G-force sensor、gradienter to detect the slope at different road slope. So as to change release time of EPB. Therefore, the cost is increased because of using too many sensors. Or the energy wasted and driving safety problem due to the open-loop control. This research is using Road Angles Estimator to estimate road slope, and torque signal from torque sensor to calculate how much brake force should be given. And use lead-lag motor current controller to control the electrical brake step motor. This research is using MATLAB/Simulink to simulate the control strategy when vehicle drive at the 12% and 20% road slope. The cost of Hill Start Assist system in this research is lower because it dosen’t use any expensive sensor, such as gyroscope. Moreover, the control strategy can estimate the brake force precisely at different engine output torque by different throttle position. So this system can be safer and has better energy efficient to finish hill start assist.