臺灣博碩士論文加值系統

在本篇論文中，我們提出了一個更完整的電動機車 (Electric Motorcycle) 的數學模型。然後，我們利用了滑模控制 (Sliding Mode Control) 的技巧設計了滑擦控制器 (Slip Ratio Controller) 來產生一個適當的扭力命令來達成滑差追蹤的目的，而滑差的參考訊號是由路面情況估測器利用適應性鑑識法 (Adaptive Identification) 所得到的。這裡並提出了一個速度控制器，使用回授線性化 (Feedback Linearization) 的技巧來達到使用者所提供的速度命令。另外，利用了模糊控制 (Fuzzy Control) 的原理設計了一個能源管理系統 (Energy Management System) 來減少能源的不正當消耗。在對個別的系統作穩定度分析後，也對整個系統做了完整的穩定度分析。最後，電腦模擬也證明了所設計系統的可行性。

In this thesis, a thorough dynamic model for the electric motorcycle is presented here. After that, the slip ratio controller is designed using sliding mode control technique to generate torque command for slip ratio tracking, then a slip ratio reference from road condition estimator is built using adaptive identification. Moreover, the velocity controller is designed to track the driver’s velocity demand using feedback linearization technique. The energy management system is to regulate the abnormal driving actions for energy saving. After proving the individual of separated subsystems, the overall stability analysis is also performed. Also, the computer simulations and experiments are done due to demonstrate the feasibility and effectiveness of our integrated system design.

Content
Chapter 1 Introduction 1
1.1 Motivation……………………………………… 1
1.2 Survey…………………………………………… 2
1.3 Contribution…………………………………… 3
1.4 Organization of This Thesis……………… 3
Chapter 2 Preliminaries and Modeling 4
2.1 Battery………………………………………… 4
2.2 Driver and Motor……………………………… 8
2.3 Transmission System………………………… 14
2.4 Wheel and Road Surface……………………… 25
2.5 Modeling of Electric Motorcycles………… 29
Chapter 3 Controller Design 32
3.1 Velocity Controller…………………………… 33
3.2 Slip Ratio Controller………………………… 36
3.3 Energy Management System…………………… 43
3.3.1 Fuzzification………………… 44
3.3.2 Decision Making Process…… 46
3.3.3 Defuzzification……………… 47
3.4 Overall Stability……………………………… 49
Chapter 4 Simulation Results 52
4.1 Velocity Tracking……………………………… 53
4.2 Slip Ratio Tracking…………………………… 55
4.3 Overall Control System………………………… 62
4.4 Results of EMS…………………………………… 73
Chapter 5 Conclusion 75

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