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標題: | 藉由主動轉向和差動驅動/剎車達成多輪驅動電動車之進階路徑追隨控制 Enhanced Lane Following Control for a Multi-traction Electric Vehicle through Active Steering and Differential Traction/Braking |
作者: | Eric Wang 王俊凱 |
指導教授: | 李綱(Kang Li) |
關鍵字: | 路徑追隨控制,多輪驅動電動車,主動轉向,差動驅動/剎車, lane folloing control,multi-traction EV,active steering,differential traction/braking, |
出版年 : | 2014 |
學位: | 碩士 |
摘要: | 本論文之研究探討結合主動轉向、差動驅動及差動煞車,以開發一套適合用於多輪驅動電動車之進階路徑追隨控制系統,此系統欲結合自動駕駛與偏航穩定控制功能,以提升多輪驅動電動車之動態性能,並可進一步利用此進階路徑追隨控制系統開發高安全性、高性能之自主駕駛電動車。本研究使用一輛開發中的複式電力驅動電動車作為此系統的開發平台,該車前軸使用一顆額定功率40-kw的感應馬達提供驅動力,後兩輪則各使用一具28-kw永磁同步馬達直接驅動後輪,再加上四輪獨立的液壓剎車系統,可使該車具備差動驅動與差動剎車之能力,前輪則另外使用電子動力轉向系統達成主動轉向控制。
進階路徑追隨控制系統使用階層式的控制架構,並依此架構探討主動轉向、差動驅動及差動剎車之整合方法,根據轉向控制以及差動驅動/剎車的耦合程度可區分為緊密耦合、鬆散耦合及非耦合此三種系統整合方案,此三方案皆以模型預測控制技術為基礎進行車輛控制演算法之開發。本研究接著使用模型迴路模擬(Model in the Loop Simulation)方式比較此三種控制系統的差異,進而選擇使用非耦合方案進行進階路徑追隨控制系統之研發,最後再以硬體迴路模擬(Hardware in the Loop Simulation)方式進行本套系統的功能測試、驗證。模擬結果顯示,本研究所提出之進階路徑追隨控制系統性能適用於複式電力驅動電動車,且此車之高速過彎能力、循跡性可優於CarSim軟體內建之車輛搭配閉迴路駕駛者模型轉向控制器(Closed-loop Driver Model Steering Controller)。 The thesis studies the integration of active front steering, differential traction and differential braking for developing an enhanced lane following control (LFC) system for a multi-traction electric vehicle (EV). The enhanced LFC system aims to combine the automatic driving and yaw stabilization functions, so that the dynamic performance of the multi-traction EV can be improved. Furthermore, the autonomous vehicle with a high level of safety and performance can be developed based on the enhanced LFC system. A compound electric propulsion vehicle, which is under development, is adopted as the system development platform for this research. This vehicle is equipped with a 40-kw induction motor (IM) to drive the front axle and two 28-kw permanent magnet synchronous motors (PMSM) to directly drive the rear wheels. By combining the compound electric propulsion system and the hydraulic brake system on each wheel, the differential traction/braking can be enabled. In addition, the active front steering control is achieved with the electronic power steering (EPS) system. The enhanced LFC system is developed using the hierarchical control architecture. The integration methods for combining the active front steering, differential traction and differential braking are explored. Depending on the degree of coupling of active steering and differential traction/braking, three system integration methods, dubbed tightly coupled, loosely coupled and decoupled control, are proposed. The model predictive control (MPC) strategy is adopted for developing the vehicle control algorithms in the three integration architectures. The developed control algorithms are compared through the model in the loop simulation (MiLS). The decoupled control approach is selected for the enhanced LFC system, and it is further tested through the hardware in the loop simulation (HiLS). Simulation results show that the enhanced LFC system is applicable to the compound electric propulsion vehicle. Moreover, the superior cornering and lane tracking performance with the proposed LFC system is demonstrated in comparison with the ideal, skilled driver model of CarSim, (Closed-loop Driver Model Steering Controller). |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/55303 |
全文授權: | 有償授權 |
顯示於系所單位: | 機械工程學系 |
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