臺灣博碩士論文加值系統

近年來，於電動機車的設計上，使用無刷直流馬達取代傳統的有刷直流馬達，除了可具有更長的使用壽命外，更能於功率輸出等特性上有更好的表現。本論文主要建構針對電動機車的防鎖死煞車系統，利用其於煞車時的動能轉化為電能所產生之制動力，設計一具有快速響應及針對系統不確定性的防鎖死煞車控制器。基於現行的再生式煞車系統，本論文提出了結合動能煞車及短路煞車的特性，設計電子式防鎖死煞車系統，進而設計PI控制器調控煞車力，另提出滑差滑模控制器將滑差值控制在理想值。在系統實現及驗證中，利用貝斯卡輪胎模式搭配Matlab模擬電動機車在各種路面的煞車情境，並於數位訊號處理器(TMS320F28335)上建構煞車控制器。最後設計一組實驗平台用於驗證所提出的電子式防鎖死煞車系統。

In recent years, the design of electric scooter (ES) uses brushless DC motor (BLDCM) in the place of brushed DC motor. Besides the life of BLDCM is longer, BLDCM has more superior characteristics such as power output than brushed DC motor. This research constructs an anti-lock braking system (ABS) for ES utilizing the braking force generated when electrical energy releases to load to design an anti-lock braking controller which has rapid torque response and compensation for system uncertainty. An electrical ABS is proposed in this thesis associating with dynamic braking and short-circuit braking. PI current controller is used to adjust the braking force, while slip ratio sliding mode control regulates slip ratio into ideal value. For the system realization, first of all, the braking scene is simulated using MATLAB on different road surfaces based on Pacejka’s magic formula tyre model (MFTF). Then, the digital signal processor (DSP) is used as electric control unit (ECU) to design a braking driver. Finally, an experimental test bench is used to verify the proposed system.

誌謝辭 i
中文摘要 ii
Abstract iii
Contents iv
List of Figures vi
List of Tables ix
Chapter 1 Introduction 1
Chapter 2 Brushless DC Motor 4
2.1 Introduction 4
2.2 Mathematical Model of BLDCM 5
2.3 Phenomenon of Electromagnetic Braking 7
2.4 BLDCM Driver 8
2.5 Hall Effect Sensors 9
2.6 Pulse Width Modulation 11
2.7 Commutation Principle and Analysis of Current Control 12
2.7.1 Normal Mode 13
2.7.2 Braking Mode 17
Chapter 3 Electrical Anti-lock Braking System 22
3.1 Introduction 22
3.2 Vehicle Dynamics 23
3.3 Magic Formula Tyre Model 25
3.4 Slip Ratio Estimator 27
3.5 Control Design 28
3.5.1 Design of Sliding Mode Control 28
3.5.2 Slip Ratio Sliding Mode Controller 31
3.5.3 PI Current Controller 34
Chapter 4 System Realization 36
4.1 System Architecture 36
4.2 Software Design 39
4.3 Hardware Design 41
4.3.1 Inverter 41
4.3.2 Operational Amplifier 41
4.3.3 Measurement of Braking Current 42
4.3.4 Rotational Speed Measurement 43
Chapter 5 Experimental Results 45
5.1 Simulation Results 45
5.1.1 Simulation Results of Braking Current Control 45
5.1.2 Simulation Results of Slip Ratio Control 49
5.2 Experimental Results 57
5.2.1 Hall Signals and Commutation Sequence 57
5.2.2 Experimental Results of Braking Current Control 59
5.2.3 Experimental Results of Slip Ratio Control 64
Chapter 6 Conclusions and Future Works 71
6.1 Conclusions 71
6.2 Future Works 71
References 72

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