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| ???org.dspace.app.webui.jsptag.ItemTag.dcfield??? | Value | Language |
|---|---|---|
| dc.contributor.advisor | 陽毅平(Yee-Pieg Yang) | |
| dc.contributor.author | Wu-Chi Chen | en |
| dc.contributor.author | 陳武祺 | zh_TW |
| dc.date.accessioned | 2021-06-08T02:03:37Z | - |
| dc.date.copyright | 2016-04-15 | |
| dc.date.issued | 2015 | |
| dc.date.submitted | 2016-03-23 | |
| dc.identifier.citation | [1] Y. Hori, 'Future vehicle driven by electricity and control-research on four-wheel-motored,' IEEE Transactions on Industrial Electronics, vol. 51, pp. 954-962, 2004.
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/19527 | - |
| dc.description.abstract | 傳統的車輛控制器採用串聯式節能與安全策略，將車身穩定系統與動力分配系統獨立進行設計，但這樣的設計方法沒有考慮各系統的交互作用，本研究透過馬達特性說明車身穩定系統所產生的直接偏擺力矩，會使動力分配系統的能耗表現變差。
本研究提出兼顧轉向安全之節能動力分配策略，採用並聯式節能與安全策略，目的是在車輛穩定性佳時降低直接偏擺力矩而改善能耗，因此以β-γ相位穩定圖判斷車輛穩定性，同時整合滑模控制，設計本研究之車身穩定系統。 透過模型迴路與硬體迴路平台驗證本研究策略，實驗結果顯示相較於串聯式節能與安全策略，並聯式節能與安全策略能夠為粒子群最佳化動力分配帶來1%~5%的續航力提升； 能為固定比例動力分配帶來4.5%~7%的續航力提升。 故本研究的策略能確保車輛控制器以更小的直接偏擺力矩帶來轉向行駛的穩定性，在兼顧轉向安全的條件下，提升車輛轉向行駛時的節能表現。 | zh_TW |
| dc.description.abstract | Traditional vehicle controller adopts a series energy saving and safty (SES) strategy, which independently designs vehicle stability system and power distribution system. However, traditional design method didn’t consider the interaction of each system. So, this research uses characteristics of motor to illustrate that direct yaw moment produced from vehicle stability system adversely affects the energy saving performance of the power distribution system.
This research proposes energy saving strategy with steering stability for an electric vehicle driven by multiple motors, which adopts a parallel energy saving and safety (PES) strategy, and the goal is that the controller reduces direct yaw moment to achieve energy consumption improvement when vehicle has good stability. This research uses β-γ phase plane to judge vehicle stability, and it integrates with sliding mode control to design a vehicle stability system. This research verifies the strategy by model in the loop (MIL) and hardware in the loop (HIL) platform. Experimental results show that compare with SES strategy, PES strategy saves 1%~5% of energy when vehicle uses particle swarm optimization (PSO) as power distribution; and 4.5%~7% of energy when constant proportion (CP) is used as power distribution. Thus, the strategy of this research makes sure the controller can produce smaller direct yaw moment to stabilize the vehicle. The vehicle can then remain stable and achieve higher energy-saving performance. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-08T02:03:37Z (GMT). No. of bitstreams: 1 ntu-104-R02522831-1.pdf: 5234251 bytes, checksum: 571731c00d3884d2a2ddee59f0662dea (MD5) Previous issue date: 2015 | en |
| dc.description.tableofcontents | 口試委員審定書 ii
誌謝 iv 中文摘要 vi Abstract viii 目錄 x 圖目錄 xiv 表目錄 xxiii 符號表 xxv 第一章、緒論 1 1.1 研究動機與目的 1 1.2 文獻回顧 2 1.2.1 電動車之發展 2 1.2.2 車身穩定控制策略 6 1.3 本文貢獻 9 1.4 論文架構 11 第二章、系統動態模型 13 2.1 多動力馬達電動車架構 13 2.2 馬達及馬達驅動器 14 2.2.1 馬達驅動之操作象限 14 2.2.2 前置15-kW直流無刷馬達 15 2.2.3 後輪7-kW永磁同步馬達 17 2.2.4 馬達力矩響應模擬 19 2.2.5 馬達消耗能量及回充能量估算 21 2.3 傳動齒輪箱 22 2.4 輪胎模型 23 2.4.1 輪胎縱向模型 24 2.4.2 輪胎側向模型 26 2.5 車體動態模型 28 2.5.1 車體縱向動態 29 2.5.2 車體側向與偏擺動態 31 2.5.3 車輛規格 33 2.6 電池模型 34 第三章、行車動力分配問題分析 38 3.1 總力矩需求與轉向動態 38 3.1.1 總力矩需求之達成 38 3.1.2 直接偏擺力矩需求之達成 42 3.2 動力分配情形 44 3.3 直接偏擺力矩對於節能動力分配之影響 49 3.4 滑模控制 52 3.4.1 簡介 52 3.4.2 原理與設計步驟 53 第四章、車身穩定策略 56 4.1 穩態轉向 56 4.2 相位穩定圖分析 59 4.3 並聯式節能與安全策略下之直接偏擺力矩控制器 65 4.4 滑差控制器 67 4.4.1 輪胎力矩與滑差之動態方程式 67 4.4.2 ABS控制器設計 68 4.4.3 TCS控制器設計 70 4.5 控制器參數之獲得 72 第五章、即時節能動力分配策略與車身穩定系統整合設計 80 5.1 粒子群最佳化法 80 5.1.1 簡介 80 5.1.2 演算方式 81 5.1.3 演算流程 83 5.1.4 動力分配問題中之應用 84 5.2 節能策略與車身穩定系統整合架構 85 5.3 驅動力矩分配與回充煞車力矩分配判斷流程 87 5.4 驅動力矩分配策略流程 89 5.5 回充煞車力矩分配策略流程 105 5.6 PSO參數設定 137 第六章、MIL行車模擬與分析 139 6.1 MIL模擬架構介紹 139 6.1.1 雙車道切換(double lane change, DLC) 139 6.1.2 行車循環(driving cycle) 140 6.1.3 行車模擬架構 141 6.1.4 固定比例之力矩分配方式 143 6.2 MIL車身穩定系統驗證 145 6.2.1 縱向動態穩定性驗證 145 6.2.2 側向動態穩定性驗證 147 6.3 MIL行車模擬節能驗證 157 6.3.1 PSO即時節能動力分配 158 6.3.2 固定比例Rf1動力分配 166 6.4 MIL結果討論 174 第七章、HIL實現兼顧轉向安全之節能動力分配策略 177 7.1 HIL平台架構 177 7.2 HIL平台之硬體介紹 178 7.2.1 dSPACE MicroAutoBox 178 7.2.2 動力計馬達即動力計負載馬達 179 7.3 HIL行車模擬實驗節能驗證 181 7.3.1 PSO即時節能動力分配 182 7.3.2 固定比例Rf1動力分配 190 7.4 HIL行車節能性比較與結果討論 197 7.5 HIL行車模擬實驗總結 199 第八章、結論與未來展望 201 8.1 結果討論 201 8.2 未來展望 203 參考文獻 204 | |
| dc.language.iso | zh-TW | |
| dc.title | 多動力馬達電動車兼顧轉向安全之節能動力分配策略 | zh_TW |
| dc.title | Energy Saving Strategy with Steering Stability for an Electric Vehicle Driven by Multiple Motors | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 104-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 李綱(Kang Li),李承和(Cheng-Ho Lee),陳柏全(Bo-Chiuan Chen) | |
| dc.subject.keyword | 電動車,車身穩定,節能,β-γ相位穩定圖,滑模控制, | zh_TW |
| dc.subject.keyword | Electric vehicle,vehicle stability,energy saving,β-γ phase plane,sliding mode control, | en |
| dc.relation.page | 211 | |
| dc.identifier.doi | 10.6342/NTU201600139 | |
| dc.rights.note | 未授權 | |
| dc.date.accepted | 2016-03-23 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| Appears in Collections: | 機械工程學系 | |
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