應用積分型順滑模控制技術於電動車輛轉向控制與不均勻路面煞車控制

本論文的主要目的在探討車輛轉向控制與不均勻路面之煞車控制。車輛行駛於道路上時，除了一般直線駕駛外，轉向與不均勻路面煞車也是極常見之操作情況。如果車輛於這兩種操作下無控制系統之輔助，很有可能會喪失其穩定性與安全性，甚至因而造成重大車禍意外的發生。對於此兩種操作，本論文主要採取了積分型順滑模控制設計方式。車輛系統在積分型順滑模控制律下不僅涵蓋了其優點與好處如強韌的穩健性、快速響應與容易實行，且充分地展現出積分型順滑模控制其最優異之處在於藉由預先選定的控制律，受雜訊干擾之系統響應與軌跡具有可預測性，而此項優點對於其他非線性系統控制是不易辦到與實現的。從車輛系統於轉向與不均勻路面煞車之模擬結果，確實能夠展現出積分型順滑模控制之優異。

關鍵字

積分型順滑模控制；車輛；轉向；不均勻路面煞車

並列摘要

This thesis investigates the control about cornering and split-μ braking maneuvers for a four-wheel independently actuated vehicle in the presence of uncertainties. These two maneuvers are often encountered during driving. If vehicle is not assisted with the control system, it is possible that vehicle loses its stability and safety in cornering and split-μ braking, which may results in serious car accidents. For these two issues, the control is realized with using the integral-type sliding mode control (ISMC) technique. It is shown that the vehicle under the ISMC design not only maintains the benefits of ISMC scheme, including strong robustness, rapid response and easy implementation, but also retains a remarkable advantage of the performance of the uncertain system being predictable from a pre-determined nominal system. The simulation results clearly demonstrate the performance of a vehicle system with ISMC scheme.

並列關鍵字

integral sliding mode control ； vehicle ； cornering ； split-μ braking

參考文獻

[1] C. Geng, L. Mostefai, M. Denai, and Y. Hori,“Direct yaw-moment control of an inwheel-motored electric vehicle based on body slip angle fuzzy observer,” IEEE Trans. Industrial Electronics, vol. 56, no. 5, pp. 1411-1419, 2009.

[2] E. Esmailzadeh, A. Goodarzi, and G. R. Vossoughi,“Directional stability and control of four-wheel independent drive electric vehicles,”Journal of Multi-body Dynamics, vol. 216, pp. 303-313, 2002.

[3] E. Esmailzadeh, A. Goodarzi, and G. R. Vossoughi, “Optimal yaw moment control law for improved vehicle handling,” Mechatronics, pp. 659-675 2003.

[4] R.Wang and J.Wang,“Fault-tolerant control with active fault diagnosis for four-wheel independently driven electric ground vehicles,” IEEE Trans. Vehicular Technology, vol .60, no. 9, pp. 4276-4287, 2011.

[5] R. Wang and J. Wang, “Fault-tolerant control for electric ground vehicles with independently-actuated in-wheel motors,” ASME Trans. J. Dyn. Syst. Meas. Control,

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應用積分型順滑模控制技術於電動車輛轉向控制與不均勻路面煞車控制

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