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研究生:林傳凱
研究生(外文):Chuan-Kai Lin
論文名稱:設計逆向動力裝置與無滑動之補償器於電動機車
論文名稱(外文):Feedback Compensators Design for No-Sliding Electrical Motorcycles through Inverse Dynamic Equipment
指導教授:洪博雄洪博雄引用關係
指導教授(外文):B. S. Hong
學位類別:碩士
校院名稱:國立中正大學
系所名稱:機械工程所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2006
畢業學年度:94
語文別:英文
論文頁數:80
中文關鍵詞:回授控制空氣污染電池壽命電動車
外文關鍵詞:feedback controlbattery life timeelectrical vehicleair pollution
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在近幾年,綠色科技在全世界逐漸被大家給重視,因次大家也漸漸開使重視電動車的發展,它不僅方便的可以騎乘到各個地方,也可以減少空氣的污染,進而達到環保的目的,但在一般的電動車常常會有電池壽命過短,或是續航力不足及使用回授控而能達到高性能的電動車所要面臨的問題.
這些問題或雪|限制了電動車的性能,以致於電動車無法達到良好的表現.因此在本篇論文我們要對此問題進行分析,並且使用最簡單的電動機車來作為我們的實驗題材.
In recent years, the development of the green technique has already risen all over the world, therefore people already start to respect electrical vehicles gradually that not only can take people to everywhere conveniently, but also can decrease the air pollution, furthermore it can achieve the purpose of the environmental protection, but now, several problems such as battery life time, the endurance of electrical vehicles and the problem of in order to build a high performance electrical vehicle by using the feedback control, those problems may limit electrical vehicles performance so that not to achieve a high performance electrical vehicle. Consequently, we want to analyze this subject in this paper, and using the simplest electrical motorcycle to make our study object.
ABATRACT……………………………………………………………..ii

ACKNOWLEDGEMENT……..………………………………………iii

TABLE OF SYMBOLS………………………………………………...vi

LIST OF TABLE……………………………………………………...viii

LIST OF FIGURES……………………………………………………vii

LIST OF APPENDICES……………………………………………….ix

TABLE OF SYMBOLS…………………………………………………x


CHAPTER

1 INTRODUCTION………………………………………..…1

2 MATHEMATICAL MODELING AND CONTROL STRATEGY…………………………………………………4
2.1 Deducing the Model of Electrical Motorcycles with Friction………………………………………………....4
2.2 Circuit Representation of Electrical Motorcycle
without Friction……………………………………..…7
2.3 Control Strategy………………………………………..8
2.4 Synthesis of Feedback Dynamics………………………9
3 PARAMETER IDENTIFICATION DESIGN…………...14
3.1 Inverse Dynamic Equipment………………………….14
3.2 System Identification………………………………….18

4 CONTROL ALGORITHM………………………………..21
4.1 Dynamic Equilibrium…………………………………21
4.2 Controllers Design…………………………………….24
5. CONTROLLER IMPLEMENTATION…………………26
5.1Implementation of Feedback Dynamics to
PIC Microcontroller…………………………………26
6. EXPERIMENT DESIGN AND EXPERIMENTAL
/COMPUTATIONAL RESULTS………………………...28
6.1 Experimental Results…………………………………28
6.2 Sliding Conditions without Feedback Compensator
-Decrease Friction……………………………………29
6.3 Cases Study…………………………………………...29
4.2.1 Stable Case…………………………………………….30
4.2.2 Time Delay Uncertainty Induce Limit
Cycle Case……………………………………………..31
4.2.3 Initial Relative Velocity and Friction Induce Sable Limit
Cycle or Unstable Limit Cycle Cases………………….33

7. CONCLUSION AND POSSIBLE FUTURE WORK...36
APPENDICES………………………………………………………….37
REFERENCES………………………………………………………...41
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