臺灣博碩士論文加值系統

在本篇論文中，我們提出一個整合型電動機車「管理系統」；此管理系統包含了省能車速控制器、能源管理以及安全保護子系統。
省能車速控制器兼顧電動機車的強健車速追蹤性能，並透過對滑差控制的智慧型決策機制達到省能的效果；能源管理系統則監管電動機車的能源使用情形，具有殘電量估測與能源回收再利用的功能；最後，安全保護策略則可避免因不當的操作，而造成硬體電路與電池壽命的損毀。
本論文的研究理念著重在「如何有效利用電動機車電池能量」；除了開發一個具有省能機制的車速控制器之外，更針對電池運作的特性與能源回收的概念，建立電池的動態模型與煞車能量回充的機制，達到能源監控與煞車能量回充的目的。電腦模擬結果及部份的實驗結果也證明了此管理系統的正確性、可行性以及省能效果。
最後，為了將此一管理系統運行於實際的電動機車之上，我們建立一套以TI DSP F240晶片為中央處理系統的測試平台，並設計相關的資料傳輸介面電路，使上述管理系統能夠整合於實際的電動機車中，以期達成高效率能量使用的目標。

In view of the need for effective usage of the battery energy of the Electric Motorcycle (EM), we propose an integrated management system which not only accomplishes the objective of robust velocity tracking but also efficiently utilizes the stored energy of the battery.
This powerful management system can be divided into three major subsystems, including the power-saving controller, energy supervisor, and protection subsystem. We apply the concept of intelligent decision such that the redundant energy loss can be avoided. In other words, with this integrated management system, we can perform the robust velocity tracking control with highly efficient energy exploitation, residual capacity estimation, regenerative braking, and hardware protections. As one can see, all of these design concepts are focused on the energy management of the EM.
Furthermore, excessive simulations and some experimental results will be given to demonstrate the feasibility and validity of this system. In this thesis, we establish a reusable TI DSP F240 based experimental platform to implement the robust velocity tracking control, a subsystem of the proposed integrated system. Although the robust velocity tracking is not the overall functionality of the proposed integrated system, the experimental platform, which we establish here, is indeed a fundamental and reusable platform for the next-stage development.

Preface
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 Brief Survey 2
1.3 Contribution 3
1.4 Organization of this Thesis 4
Chapter 2 Preliminaries and Modeling 5
2.1 Motoring Mode 5
2.1.1 Modeling of the EM Devices 6
2.1.1.1 Driver and Brushless DC Motor 6
2.1.1.2 Transmission System 12
2.1.1.3 Battery 15
2.1.2 Analysis of Environmental Effects on the EM 20
2.1.2.1 Slip Ratio 20
2.1.2.2 Other Environmental Effects 22
2.1.3 Modeling of the Overall System 25
2.2 Generating Mode 27
2.3 Summary 30
Chapter 3 Management System Design 31
3.1 Power-saving Controller Subsystem 33
3.1.1 Problem Formulation 33
3.1.2 Power-saving Controller Design 33
3.1.2.1 Fuzzy Controller 34
3.1.2.2 Sliding-mode Controller 36
3.2 Energy Management Subsystem 39
3.2.1 Problem Formulation 39
3.2.2 Energy Indicator 39
3.2.3 Regenerative Braking System 42
3.3 Protection Subsystem 43
3.3.1 Problem Formulation 44
3.3.2 Protection Subsystem Design 44
3.4 Summary 45
Chapter 4 Simulation Results 47
4.1 Simulation Parameters 47
4.2 Power-saving Controller Subsystem 48
4.2.1 Controller without Power-Saving Modification 48
4.2.2 Integrated Controller with Power-Saving Modification 53
4.3 Energy Management Subsystem 61
4.4 Protection Subsystem 61
4.5 Summary 63
Chapter 5 Experimental Results 65
5.1 Experiment Setup 65
5.1.1 Prototyping EM 66
5.1.2 Lab-based Experimental Platform 67
5.1.3 Outdoor-based Testbench 68
5.2 DSP Firmware Development 69
5.2.1 Configuration of the DSP EVM Board 69
5.2.2 Firmware Flowchart 70
5.3 Experimental Results 71
5.3.1 Lab-based Experimental Results 71
5.3.2 Outdoor-based Experimental Results 72
5.4 Summary 75
Chapter 6 Conclusions and Future Works 77
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