電動機車驅動力矩之適應性控制

Adaptive Control of Traction Torque Control for Electric Scooter

楊政傑(Cheng-Chieh Yang)

指導教授 ： 陳柏全

國立臺北科技大學/機電學院/車輛工程系所/碩士(2008年)

https://doi.org/10.6841/NTUT.2008.00404

摘要

電動機車於行駛時，馬達可能會隨著操作環境條件不同，導致其系統參數變動，本論文研究目的是將適應性控制理論應用於電動機車上，以提高驅動力矩的控制性能。首先利用Matlab/Simulink建立一整車動態模型，其中包含駕駛者模型、馬達模型、輪胎模型及縱向動態模型。接著利用系統判別中遞迴最小平方法，針對馬達模型並考慮脈波寬度調變訊號之動態，以判別出此系統之參數。再根據所判別出之系統參數，設計一適應性控制器，並且針對驅動力矩控制進行模擬與分析。最後，為了實際驗證所發展之控制器，本論文將針對一車輪馬達，設計其相對應之驅動電路，以整合所設計之控制器於實體電動機車上，並利用機車底盤動力試驗機進行實驗驗證與討論。初步模擬及實驗結果均顯示出本論文所發展之控制器於不同的駕駛狀態下，均可有較傳統比例積分控制器較小的驅動力矩誤差。

關鍵字

電動機車 ； 適應性控制 ； 遞迴最小平方法 ； 驅動力矩控制 ； 車輪馬達

並列摘要

The motor parameters of the electric scooter might change under different operating conditions. In this research, adaptive control is applied for the electric scooter to improve the performance of the traction torque control. First, a dynamic simulation model is established in Matlab/Simulink, which consists of driver model, motor dynamics, tire dynamics, and longitudinal dynamics. Recursive least square approach of system identification is used to identify the parameters of the electric motor with pulse width modulation dynamics. The identified parameters are then utilized to design an adaptive PI controller for traction torque control of the wheel motor. The dynamic simulation model is used to evaluate the performance of the proposed algorithm. Finally, an experimental platform is established in this research to verify the proposed algorithm. A driving circuit is designed for the wheel motor. Preliminary simulation and experimental results show that the traction torque error of the proposed algorithm is smaller than that of the conventional PI controller under various operating conditions.

並列關鍵字

electric scooter ； adaptive control ； recursive least square ； traction torque control ； wheel motor

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