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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/10731
標題: | 電動車之全域滑差控制法 Full-Range Slip Control of Electric Vehicles |
作者: | Tong-Han Wu 吳東翰 |
指導教授: | 林巍聳(Wei-Song Lin) |
關鍵字: | 滑差估測器,模糊控制,滑模控制,再生煞車,循跡控制,電動車, Slip ratio estimator,regenerative braking,traction control,electric vehicle, |
出版年 : | 2010 |
學位: | 碩士 |
摘要: | 循跡控制用以確保電動車的推進力和操控性,再生煞車控制則用於規範動力馬達的再生煞車力量和回收車輛動能,本論文用一個滑差控制系統實現這兩項控制目標,特點是用無車速量測的全域滑差估測器取得滑差資訊,用模糊滑模控制技術建構滑差控制器。此全域滑差估測器可以估側加速狀態和減速狀態的滑差,而且無需量測車輛的速度。在加速狀態下,此滑差控制系統施行循跡控制,使車輛能從輪胎與路面的接觸面獲得最大的推進力;在減速狀態下,此滑差控制系統可防止再生煞車力對車輪產生定鎖作用,使車輛能從輪胎與路面的接觸面獲得最大的制動力,模糊滑模控制技術則使滑差控制器可以應付車輛負載、道路狀況等條件的變動。本論文完成此滑差控制系統的控制迴路設計,以及完成包含模糊滑模滑差控制器、全域滑差估測器、馬達控制系統和車輛模型的電動車滑差控制模擬系統,並透過各種不同的測試條件,用此模擬系統驗證各項設計的效用,結果顯示,全域滑差估測器和滑差控制系統均能有效的達成設計目標。 Traction control aims at maximizing tractive forces and ensuring maneuverability of electric vehicles, while regenerative brake control is used to govern regenerative braking forces and capture regenerative energy. This research presents a slip control system to achieve both control objectives. The slip control system consists of a fuzzy sliding mode slip controller and a full range slip ratio estimator which features no measurement of vehicle speed. This full range slip ratio estimator is capable of estimating slip ratios at either acceleration or deceleration. During acceleration, the slip control system performs traction control for maximizing tractive forces at the tire-road contacts. During deceleration the slip control system performs anti-lock regenerative brake control for maximizing braking forces. Fuzzy sliding mode control technique makes the slip control system robust against perturbations resulting from changes in loads and tire-road friction conditions. The author contributes to accomplish designs of the fuzzy sliding model slip controller, the full range slip-ratio estimator, and the slip-control simulation system. The simulation system consists of a slip-controller module, a slip-ratio-estimator module, a traction motor control module, and a vehicle module. Using this simulation system, an electric vehicle equipped with the sip control system is investigated for traction control and regenerative braking control under several environments. Simulation results show that both the full range slip ratio estimator and the slip control system achieve the goal of design. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/10731 |
全文授權: | 同意授權(全球公開) |
顯示於系所單位: | 電機工程學系 |
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檔案 | 大小 | 格式 | |
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ntu-99-1.pdf | 2.59 MB | Adobe PDF | 檢視/開啟 |
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