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標題: | 多動力馬達電動車於動力失效之車身穩定控制 Vehicle Stability Control with Electric Propulsion Failure for an Electric Vehicle Driven by Multiple Motors |
作者: | Man-Wai Chong 鍾敏慧 |
指導教授: | 陽毅平(Yee-Pien Yang) |
關鍵字: | 馬達動力失效,車身穩定控制,硬體迴路,電動車, Motor failure,vehicle stability control,HIL,electric vehicle, |
出版年 : | 2014 |
學位: | 碩士 |
摘要: | 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。 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. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/55313 |
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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