臺灣博碩士論文加值系統

本論文旨在建構前驅式電動車之驅動系統與循跡防滑控制，利用兩顆永磁式馬達建構動力分散式之前驅式電動車。本論文提出利用估測車輛於不同的路面駕駛環境下之最適前驅力，藉由控制馬達的扭矩輸出，達到行車啟動不打滑之性能。本論文利用導入最大可傳輸扭矩估測(Maximum Transmission Torque Estimation, MTTE)系統做為車輛循跡防滑的演算法。實作上使用微處理器做為電動車控制核心，藉由微處理器介面擷取當下車輛之回授命令，透過數位轉類比單元達成即時控制永磁同步馬達動力輸出。在動力輸出的部分，透過行星式減速機將馬達動力扭矩提昇，減低電樞馬達對鋰電池的電功率消耗。研究分析上，本論文利用模擬軟體CarSim來分析電動車的運動表現，主要項目包含車輛模型測試、分析行駛於濕滑路面中已導入MTTE系統之車輛動態行為。最後評估最大扭矩傳輸控制在直線啟動行駛下之性能，驗證此法於車輛行駛於濕滑路面上的穩定性與安全性。

The paper proposed the development and traction control system (TCS) of a front-wheel drive electric vehicle (EV). Two in-wheel motors were utilized in the system to construct a power-scattered EV. The permanent magnet servo motor can individually control the motor power output and immediately limit the torque individual. This paper imposed the maximum transmission torque estimation (MTTE) system as the core of TCS for preventing the vehicle skid. The control algorithm is embedded in a high speed microprocessor, which can real-timely monitor feedback signals. In the torqure ouput, a plenary gearbox was employed to amplify the motor torque. This paper also used the simulation software “CarSim” to analyze the anti-skid performace of the prototype EV which is called Corsa-EV. The crucial issues include vehicle dynamics construction and anti-skid evaluation. From the results of simulation, it is obvious that the propsed EV can achieve an accetptable performance of stability and safety with the enhancement of MTTE.

摘要 i
誌謝 iii
表目錄 vi
圖目錄 vii
第一章 緒論
1-1 研究背景與動機
1-2 研究目的
1-3 文獻回顧
1-4 本文架構
第二章 MTTE控制系統
2-1 傳統循跡控制防滑系統簡介
2-2 創新式MTTE循跡控制系統
2-2-1 MTTE循跡控制系統簡介
2-2-2 MTTE循跡控制系統設計
2-3 創新式MTTE控制架構
2-4 MTTE控制加速增益補償
第三章 前驅式電動車硬體架構實現
3-1 簡介
3-2 前驅式電動車控制架構說明
3-2-1 前驅式電動車設備架構示意圖
3-3 微處理機原理與應用
3-4 dsPIC30F4011簡介
3-4-1 數位輸出入埠
3-4-2 系統頻率
3-4-3 計時器/計數器模組
3-4-4 高速類比數位訊號轉換模組
3-4-5 中斷
3-4-6 同步串列傳輸
3-4-7 電動車系統控制訊號示意圖
3-4-8 前驅形式電動車設備簡介
第四章CarSim導入MTTE控制系統
4-1 CarSim簡介
4-2 CarSim使用概念
4-3 CarSim與MATLAB軟體結合運用
4-4 CarSim/Simulink控制系統說明
4-5 MTTE模擬CarSim 車輛及環境設定
4-6 MTTE模擬結果與討論
第五章結論與未來展望
5-1 結論
5-2 未來展望
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