應用四輪獨立驅動與煞車力控制之電動車動態整合控制策略

Integrated Vehicle Dynamic Control for an Electric Vehicle by Independent Four-Wheel Traction Torque and Braking Force Control

徐允捷(Yun-Chieh Shyu)

指導教授 ： 鄭榮和

國立臺灣大學/工學院/機械工程學研究所/碩士(2011年)

https://doi.org/10.6342/NTU.2011.02163

摘要

本研究旨在建立並探討一套完整的車輛動態控制策略，應用於具有四輪獨立動力馬達與電控煞車系統之電動車。本策略整合輪上驅動力、回充煞車力與機械煞車力，並控制各輪驅動與煞車力之分配，達成循跡防滑(TCS)、防滑煞車控制(ASBC)與主動偏航控制(AYC)等功能，並達到回充煞車的效果。
近年來因石油危機與全球暖化等問題發生，許多研究單位與車廠開始重視電動車的研發。電動車相較於傳統的汽油引擎車，除了可以降低石油的使用與溫室氣體排放，其所使用的電動動力系統也在兩方面具有相當大的發展潛力：首先是回充煞車的能力，對於解決電動車續航力不足的問題與減輕機械煞車負擔都有幫助；另一方面，電動動力系統有較快速、精準的響應，且較容易做成分散式的四輪獨立驅動架構，這使得電動車的動態控制具有極高的自由度。
在本研究中利用上述回充煞車、四輪獨立扭力分配等電動車優勢，並以行車控制單元(VCU)整合TCS、ASBC、AYC、回充煞車等控制器成一套控制系統。接著，以MATLAB/Simulink結合CarSim建立一套四輪獨立驅動電動車的運動模型，模擬控制系統在包含直線與轉向的數個測試項目中的表現，驗證控制器的成果。

關鍵字

電動車 ； 四輪驅動 ； 系統整合 ； 車輛動態控制 ； 回充煞車

並列摘要

The purpose of this paper is to establish and to investigate a Vehicle Dynamic Control Strategy for an independent four-wheel driven electric vehicle. This strategy achieved those functions of Traction Control System (TCS), Anti-Slip Braking Control (ASBC), Active Yaw Control (AYC), and regenerative brake by integrating traction torque control, braking force control, and four-wheel torque distribution.
In recent years, many research organizations and car manufacturer started electric vehicle (EV) development due to oil crisis and global warming problems. Compared to Internal Combustion Engine Vehicles (ICEV), EVs can not only reduce petroleum usage and greenhouse gas emission, but also have great potential in two aspects. First, electric power systems can recover vehicle kinetic energy during braking, which is beneficial to extend range and reduce wear of mechanical brake unit. Second, electric power systems have faster and more precise response than gasoline engine systems. Electric power systems are also capable to be arranged as independent four-wheel drive, which has high degrees of freedom for vehicle dynamic control.
In this study we make use of those advantages mentioned above, and integrated TCS, ASBC, AYC, regenerative brake controller in Vehicle Control Unit (VCU) software, which formed a complete vehicle dynamic control system. Then, an independent four-wheel driven EV dynamic model is built up using MATLAB/Simulink and CarSim. This model is use to test and verify controller performance in simulation.

並列關鍵字

electric vehicle ； four-wheel drive ； vehicle dynamic control ； regenerative braking

參考文獻

[ 21 ] 徐殷偉, "基於速度及摩擦狀態估測之四輪驅動電動車循跡控制," 國立台灣大學工學院機械工程學研究所碩士論文, 2010

[ 14 ] 翁嘉成, "雙馬達電動車煞車回充策略與系統研究," 國立台灣大學工學院機械工程學研究所碩士論文, 2010

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