四輪獨立驅動電動車之電子煞車與速度控制｜國立臺灣科技大學博碩士論文系統

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研究生：	張統凱 TONG-KAI JHANG
論文名稱：	四輪獨立驅動電動車之電子煞車與速度控制 Electric Brake and Speed Control of Four Wheels Independent Drive Electric Vehicle
指導教授：	黃緒哲 Shiuh-Jer Huang
口試委員:	陳柏全 Bo-Chiuan Chen 陳亮光 Liang-kuang Chen
學位類別：	碩士 Master
系所名稱：	工程學院 - 機械工程系 Department of Mechanical Engineering
論文出版年：	2013
畢業學年度：	101
語文別：	中文
論文頁數：	115
中文關鍵詞：	四輪獨立驅動、電動車、電子煞車、循跡防滑控制系統
外文關鍵詞：	four-wheel drive, electric car, electric brake, traction control system
相關次數：	點閱：210 下載：14
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上一筆

本研究以一輛四輪獨立驅動電動車為對象，使用FPGA作為整車核心控制器，規劃設計馬達驅動器、行車控制、回授感測之模組，並探討四輪獨立驅動電動車的性能問題。分別使用具自調性能的滑動模糊控制(FSMC)與基於函數近似法的適應控制(FAT-base AC) 兩種不須建立數學方程之控制器，對四輪輪轂馬達的速度進行控制，並比較兩者性能上之差異。在定速巡航行駛時，可切換為前輪驅動或後輪驅動，達到節能之效果。煞車部分，採用馬達驅動器控制之電子煞車，讓車輛安全停止，並搭配應用在速度追蹤上，以改善實際車速大於目標車速之情形。此外當車輛行駛至低摩擦路面時，控制器會根據參考車速及車輪轉速，計算兩者速度間的差值及誤差的變化量，適當給予車輪之命令，並搭配電子煞車抑制轉速上升，避免能源的浪費，並使行駛的車輛保持安全及操控性。

In this research, we design a four-wheel drive electric vehicle is instructed with FPGA control kernel for the whole vehicle system. The vehicle control system includes motor driver, driving controller and sensor feedback module. The performance of the vehicle velocity control based on two kinds of intelligent control schemes is compared. They are self-adjusting fuzzy sliding mode control and functional approximation based adaptive control. For constant speed cruising, the motors driver mode can be changed to reduce the energy consumption. The vehicle deceleration is controlled by the electric brake of motor driver. This brake system can also be used in speed control for improving the tracking situation which the actual velocity faster than the target velocity. When vehicle is driving on the low friction road, the controller will calculate the velocity error and the error change of the vehicle speed with respect to command and provide on speed appropriate wheel speed. The electric brake can be used to suppress the increasing of the rotational speed for improving the safety or handling, and reducing conserve the energy consumption.

摘要...........................................................................I
Abstract......................................................................II
誌謝..........................................................................IV
圖目錄........................................................................VII
表目錄..........................................................................X
第一章 緒論.....................................................................1
1　研究動機與背景..............................................................1
2　文獻回顧...................................................................2
3　論文架構...................................................................5
第二章　車輛模型與硬體架構.........................................................6
1　車輛模型...................................................................6
1.1　全車七自由度模型...........................................................7
1.2　高速轉向三自由度模型........................................................9
1.3　Ackerman幾何模型........................................................11
1.4　永磁無刷直流馬達模型.......................................................14
2　車輛機構設計...............................................................18
2.1　車架結構................................................................18
2.2　動力系統................................................................19
2.3　懸吊系統組件.............................................................22
2.4　轉向機構................................................................24
3　行車控制系統...............................................................26
3.1　控制器..................................................................27
3.2　回授感測器...............................................................28
3.3　類比轉數位模組............................................................30
4　線控轉向系統...............................................................31
第三章　系統控制理論.............................................................34
1　模糊滑動模式控制器(Fuzzy Sliding Mode Control)..............................34
1.1　模糊控制器(Fuzzy Control)................................................34
1.2　滑動模式控制(Sliding Mode Control).......................................37
1.3　滑動模式控制器結合模糊控制器................................................42
2　函數近似適應性控制(FATAC)...................................................44
2.1　函數近似法(Functional Approximation Technique)...........................44
2.2　函數近似法結合適應控制器...................................................47
第四章　數位控制器設計...........................................................51
1　行車控制器設計.............................................................51
1.1　行車控制流程.............................................................52
1.2　數位濾波器設計............................................................53
1.3　周邊裝置通訊介面..........................................................54
2　馬達驅動器控制架構..........................................................56
2.1　驅動器架構...............................................................56
2.2　橋式驅動電路.............................................................58
3　電池電量量測...............................................................62
4　電子差速器.................................................................63
5　車輛行駛軌跡...............................................................67
6　循跡防滑系統...............................................................70
第五章　實驗結果與討論............................................................72
1　四輪速度控制響應............................................................72
1.1　FATAC控制器之實驗結果.....................................................72
1.2　FSMC控制器之實驗結果......................................................89
2　電子煞車..................................................................98
2.1　電子煞車之煞車距離實驗結果..................................................98
2.2　電子煞車之定速追蹤實驗結果..................................................99
3　適時四輪驅動實驗...........................................................101
4　循跡控制系統..............................................................106
第六章　結論與未來展望...........................................................109
1　結論.....................................................................109
2　未來展望.................................................................110
參考文獻......................................................................111

                                

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