臺灣博碩士論文加值系統

本研究旨在建立並探討一套完整的車輛動態控制策略，應用於具有四輪獨立動力馬達與電控煞車系統之電動車。本策略整合輪上驅動力、回充煞車力與機械煞車力，並控制各輪驅動與煞車力之分配，達成循跡防滑(TCS)、防滑煞車控制(ASBC)與主動偏航控制(AYC)等功能，並達到回充煞車的效果。
近年來因石油危機與全球暖化等問題發生，許多研究單位與車廠開始重視電動車的研發。電動車相較於傳統的汽油引擎車，除了可以降低石油的使用與溫室氣體排放，其所使用的電動動力系統也在兩方面具有相當大的發展潛力：首先是回充煞車的能力，對於解決電動車續航力不足的問題與減輕機械煞車負擔都有幫助；另一方面，電動動力系統有較快速、精準的響應，且較容易做成分散式的四輪獨立驅動架構，這使得電動車的動態控制具有極高的自由度。
在本研究中利用上述回充煞車、四輪獨立扭力分配等電動車優勢，並以行車控制單元(VCU)整合TCS、ASBC、AYC、回充煞車等控制器成一套控制系統。接著，以MATLAB/Simulink結合CarSim建立一套四輪獨立驅動電動車的運動模型，模擬控制系統在包含直線與轉向的數個測試項目中的表現，驗證控制器的成果。

The purpose of this paper is to establish and to investigate a Vehicle Dynamic Control Strategy for an independent four-wheel driven electric vehicle. This strategy achieved those functions of Traction Control System (TCS), Anti-Slip Braking Control (ASBC), Active Yaw Control (AYC), and regenerative brake by integrating traction torque control, braking force control, and four-wheel torque distribution.
In recent years, many research organizations and car manufacturer started electric vehicle (EV) development due to oil crisis and global warming problems. Compared to Internal Combustion Engine Vehicles (ICEV), EVs can not only reduce petroleum usage and greenhouse gas emission, but also have great potential in two aspects. First, electric power systems can recover vehicle kinetic energy during braking, which is beneficial to extend range and reduce wear of mechanical brake unit. Second, electric power systems have faster and more precise response than gasoline engine systems. Electric power systems are also capable to be arranged as independent four-wheel drive, which has high degrees of freedom for vehicle dynamic control.
In this study we make use of those advantages mentioned above, and integrated TCS, ASBC, AYC, regenerative brake controller in Vehicle Control Unit (VCU) software, which formed a complete vehicle dynamic control system. Then, an independent four-wheel driven EV dynamic model is built up using MATLAB/Simulink and CarSim. This model is use to test and verify controller performance in simulation.

致謝 I
摘要 II
Abstract III
目錄 IV
圖目錄 VI
表目錄 IX
第一章 緒論 1
1.1 研究背景與動機 1
1.2 研究目的與方法 2
1.3 研究流程與論文架構 3
第二章 理論背景與文獻回顧 6
2.1 理論背景與變數定義 6
2.2 文獻回顧 12
2.2.1 車輛動態整合控制 12
2.2.2 整合輪上驅動力與煞車力 15
2.2.3 循跡防滑控制系統 (TCS) 18
2.2.4 回充煞車系統與防鎖死煞車系統 (ABS) 22
2.2.5 主動偏航控制 (AYC) 25
2.3 文獻回顧總結 28
第三章 電動車動態控制演算法 29
3.1 系統架構建立 29
3.2 狀態估測器 35
3.2.1 速度與側滑角估測器 35
3.2.2 摩擦力估測器 37
3.3 循跡防滑控制器 (TCS) 與防滑煞車控制器 (ASBC) 39
3.4 主動偏航控制器 (AYC) 44
3.5 驅動力與煞車力整合控制器 46
3.6 整車扭力分配控制器 48
3.7 動態控制演算法研發總結 53
第四章 電動車動態控制模型建立 54
4.1 車輛運動模型 54
4.2 動力馬達系統模型 60
4.3 電控油壓煞車系統模型 61
第五章 電動車動態控制模擬分析 62
5.1 直線加速 62
5.2 直線煞停 65
5.3 Double Lane Change 68
5.4 定曲率過彎 72
5.5 Split Mu煞車 75
第六章 結論與未來展望 80
6.1 成果總結 80
6.2 建議與未來工作 81
參考文獻 82

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