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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 陽毅平(Yee-Pien Yang) | |
dc.contributor.author | Man-Wai Chong | en |
dc.contributor.author | 鍾敏慧 | zh_TW |
dc.date.accessioned | 2021-06-16T03:56:09Z | - |
dc.date.available | 2017-01-14 | |
dc.date.copyright | 2015-01-14 | |
dc.date.issued | 2014 | |
dc.date.submitted | 2014-12-12 | |
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/55313 | - |
dc.description.abstract | 本研究提出一新型的多動力馬達電動車動力失效之車身穩定控制策略,此多動力馬達電動車由一個前置15-kW牽引馬達搭配傳動齒輪箱,作為前輪間接驅動動力源,以及由兩顆後輪7-kW馬達置於輪內,作為後輪直接驅動動力源。此多動力馬達架構,能提供車輛多自由度的控制性能,透過各種不同的馬達操作組合,可以達到各種操作下的車體動作。但是,此多動力馬達電動車由於包含多個動力系統,其電子系統較一般單動力之電動車多,因此,其中一個電子系統發生失效的機率就相對比較高。本研究利用滑模控制(sliding mode control, SMC)來設計直接偏擺控制器(direct yaw-moment controller, DYC)以及滑差控制器(slip ratio controller, SRC),並由此來發展失效車身穩定的策略,使車輛即使在馬達動力效的情況下也能安全且穩定地行駛或是停止下來。此外,制定控制器區域網路(controller area network, CAN bus)通訊協定,作為即時模擬系統與馬達控制器之間的即時通訊網路,並建構CAN bus的診斷功能,以判斷動力系統的失效狀況,以作為控制的依據。
本研究除了通過模型迴路(model-in-the-loop, MIL)來驗證所提出之策略性能之外,還進行了硬體迴路(hardware-in-the-loop, HIL)模擬測試,把一顆馬達架設在動力計上以充當其中一顆後輪7-kW馬達,並將馬達動力失效力矩分配策略建立在數位訊號處理器(digital signal processor, DSP)中,與即時模擬系統(real-time simulation)內所建立的各控制器與模型模塊互相聯結進行模擬。結果顯示,本研究所提出之策略在馬達動力失效的情況下也能有效維持車輛的安全性及穩定性,進一步驗證在此策略之可靠性。 | zh_TW |
dc.description.abstract | This research proposes a vehicle stability control with electric propulsion failure for a new structure of powertrain system for an electric vehicle (EV). The powertrain of the EV consists of three motors: one 15-kW front traction motor and two 7-kW directly-driven in-wheel motors installed inside the rear wheels. This configuration of power sources provides multi-degrees of freedom for good performance controllability. However, it is more possible for the vehicle with more electrical systems to fail than a traditional electric vehicle. In order to enhance the safety of the vehicle when the electric propulsion failure is detected, this research develops a strategy with direct yaw-moment controller (DYC) and slip ratio controller (SRC). Controller area network (CAN bus) protocols are also developed as real-time communication network between real-time simulation and motor controller. Also, CAN bus diagnostic functions are constructed in order to determine the status of power system failure and adapt the control strategy.
Finally, besides of proving the performance of the strategy by model-in-the-loop (MIL) simulation, the torque distribution strategy is implemented in digital signal processor (DSP) and a motor on dynamometer acting as one of the 7-kW rear in-wheel motors executes simulation on hardware-in-the-loop (HIL) platform. Experimental results show that the strategy of the vehicle stability control can keep safety and stability of the vehicle when the electric propulsion failure is detected, and further verify the reliability of this strategy. | en |
dc.description.provenance | Made available in DSpace on 2021-06-16T03:56:09Z (GMT). No. of bitstreams: 1 ntu-103-R00522837-1.pdf: 16146521 bytes, checksum: 7851b526e0d6b3059c140c74144f7476 (MD5) Previous issue date: 2014 | en |
dc.description.tableofcontents | 誌謝 i
中文摘要 iii ABSTRACT v 目錄 vii 圖目錄 xi 表目錄 xxv 符號表 xxvii 1 第一章 緒論 1 1.1 電動車背景介紹 1 1.2 文獻回顧 2 1.2.1 電動車之發展 2 1.2.2 車身穩定策略 4 1.3 研究動機與目的 11 1.4 本文貢獻 12 1.5 論文架構 14 2 第二章 系統動態模型 16 2.1 多動力馬達電動車架構 16 2.2 馬達模型 17 2.2.1 馬達規格 17 2.2.2 馬達力矩響應 19 2.2.3 馬達機械方程式 20 2.3 傳動齒輪箱 21 2.4 輪胎模型 22 2.4.1 輪胎規格 22 2.4.2 輪胎動態模型 23 2.5 車體動態模型 27 2.5.1 車身縱向動態 27 2.5.2 車身側向與偏擺動態 31 2.5.3 車輛規格 34 3 第三章 車身穩定策略 36 3.1 滑模控制 (sliding mode control, SMC) 36 3.2 滑差控制器(slip ratio controller, SRC) 39 3.2.1 力矩與滑差之狀態方程式 39 3.2.2 控制器設計 40 3.3 直接偏擺控制器(direct yaw-moment controller, DYC) 43 3.3.1 控制目標 43 3.3.2 中性轉向行為狀態方程式 45 3.3.3 控制器設計 49 3.3.4 偏擺力矩控制方程式 49 3.4 力矩分配策略 51 3.4.1 正常行駛下力矩分配 52 3.4.2 動力失效情況下力矩分配 58 3.4.3 緊急煞車模式 60 3.5 總結 62 4 第四章 系統研製 64 4.1 失效力矩分配與訊號轉接板 65 4.1.1 硬體介紹 65 4.1.2 硬體電路介紹 67 4.2 控制器區域網路(controller area network, CAN bus) 74 4.2.1 簡介 74 4.2.2 CAN bus診斷功能 75 4.2.3 CAN bus通訊協定 77 4.3 失效力矩分配軟體程式設計 80 4.3.1 主程式 81 4.3.2 中斷副程式 82 5 第五章 MIL模擬驗證 83 5.1 MIL介紹 83 5.1.1 軟體簡介 83 5.1.2 MIL架構 83 5.2 模擬結果與討論 84 5.2.1 直線乾燥柏油路面模擬 84 5.2.2 直線冰面模擬 101 5.2.3 環型濕滑路面模擬 125 5.2.4 MIL模擬結論 141 6 第六章 HIL模擬驗證 151 6.1 HIL介紹 151 6.1.1 系統簡介 151 6.1.2 HIL平台架構 152 6.1.3 HIL平台馬達響應 155 6.2 測試結果與討論 157 6.2.1 直線乾燥柏油路面模擬 157 6.2.2 直線冰面模擬 176 6.2.3 環型濕滑路面模擬 198 6.2.4 HIL模擬結論 217 7 第七章 結論與未來展望 219 7.1 結論 219 7.2 未來展望 220 參考文獻 222 | |
dc.language.iso | zh-TW | |
dc.title | 多動力馬達電動車於動力失效之車身穩定控制 | zh_TW |
dc.title | Vehicle Stability Control with Electric Propulsion Failure for an Electric Vehicle Driven by Multiple Motors | en |
dc.type | Thesis | |
dc.date.schoolyear | 103-1 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 李綱,李承和,林君穎 | |
dc.subject.keyword | 馬達動力失效,車身穩定控制,硬體迴路,電動車, | zh_TW |
dc.subject.keyword | Motor failure,vehicle stability control,HIL,electric vehicle, | en |
dc.relation.page | 229 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2014-12-12 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
顯示於系所單位: | 機械工程學系 |
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