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標題: | 楔擠式電子機械制動器之模式分析與控制法 Modeling and Control of Electromechanical Wedge Brake |
作者: | Tsi-Yu Chuang 莊財裕 |
指導教授: | 林巍聳 |
關鍵字: | 電子機械制動器,楔擠式電子機械制動器,線控煞車,線控駕駛,輸入輸出線性化,最佳LQ追跡器, Electromechanical brake (EMB),electromechanical wedge brake (EWB),by-wire braking,by-wire drive,input-output linearization,optimal LQ tracker, |
出版年 : | 2007 |
學位: | 碩士 |
摘要: | 本論文的核心問題是楔擠式電子機械制動器 (EWB)的模式分析與控制器設計,楔擠式電子機械制動器是一種藉由推入或拉出楔塊來操控煞車的特殊制動器,這種制動器響應快速而且僅需很小的驅動電流就可以操縱,是目前最可以滿足線控煞車系統需求的設計。儘管具備許多優異的特性,楔擠式電子機械制動器應用於線控煞車的性能表現仍需做進一步的分析和驗證。本論文先對線控煞車技術和發展過程做概略性的介紹,再對楔擠式電子機械制動器和傳統液壓式制動器的結構和性能做比較,然候再建立楔擠式電子機械制動器的數學模型,並分析其可控性、可觀測性及穩定性等動態行為,最後分別用輸入輸出線性化法和最佳LQ追跡法設計兩個追跡控制器,並以電腦模擬分別檢驗這兩種系統的控制性能。 The theme of this master thesis is the study of the powerful electromechanical brake (EMB) in the applications of by-wire braking. The research focus is the modeling and control of a special design of EMB termed electromechanical wedge brake (EWB). EWB is characterized with manipulating the braking force by pushing in or pulling out a wedge. This innovative design obtains not only fast response as other EMBs but also small operating current. In spite of the attractive features, its performance and integrity in the by-wire braking system still need to be studied and examined. This context presents firstly the background knowledge and historical remarks on the brake-by-wire technology. Then review and comparison of conventional and EMB brake technologies are shown. The mathematical model of EWB is derived and the dynamical behavior of EWB is analyzed for controllability, observability, stabilizability and detectability. Finally, designs of the closed-loop EWB control system with the input-output linearization method and the optimal LQ tracker method are shown. By numerical experiments, the performance of the closed-loop EWB control systems is verified. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/29946 |
全文授權: | 有償授權 |
顯示於系所單位: | 電機工程學系 |
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