應用自組織模糊控制於電動機車循跡防滑控制系統之研發

Research and Development of Traction Control System for Electric Scooter using Self-Organizing Fuzzy Control

屈家興(Chia-Hsing Chu)

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(2009年)

https://doi.org/10.6841/NTUT.2009.00526

摘要

本文利用自組織模糊控制設計電動機車的循跡防滑控制系統，首先，利用正向力估測器與驅動力估測器，進行路面摩擦係數的估測。接著根據路面摩擦係數及輪胎滑差，利用路面狀況估測器，得知摩擦曲線的斜率，並依此設計目標滑差計算法則。最後利用自組織模糊控制進行滑差控制，主要是根據滑差的誤差及誤差的變化量，調整馬達扭矩增益值，並乘以駕駛者的扭矩需求，以得到馬達扭矩之參考命令。初步的模擬與實驗結果顯示，本文所提出的循跡防滑控制系統可偵測到路面磨擦係數的變化，即時控制車輪馬達的扭矩，將輪胎與地面之間的滑差維持在穩定的區域，除了可提升在低摩擦係數路面的驅動性能，並可有效減少馬達驅動能量的浪費。

關鍵字

循跡防滑控制系統 ； 自組織模糊控制 ； 滑差控制 ； 車輪馬達 ； 電動機車

並列摘要

A self-organizing fuzzy control (SOFC) is proposed to design the traction control system (TCS) for electric scooter with direct driven wheel motor. The road friction coefficient can be estimated using the normal force observer and traction force observer. A road condition estimator can then be employed to estimate the mu slope of the friction curve according to the estimated road friction coefficient and tire slip ratio. An innovative rule is proposed to determine the reference tire slip ratio based on the mu slope information. The SOFC adjusts the motor torque gain according to the error and error change of the tire slip ratio. The gain is then multiplied with the driver’s torque demand to obtain the reference torque command. Preliminary simulation and experimental results show that the proposed TCS can detect the road friction change and control the motor torque to maintain the slip ratio in the stable region, thus enhance the traction performance for low friction surface and reduce the required electric energy for traction.

並列關鍵字

traction control system ； self-organizing fuzzy controller ； slip ratio control ； wheel motor ； electric scooter

參考文獻

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