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研究生:雷誌祥
研究生(外文):Chih-HsiangLei
論文名稱:再生煞車應用於無刷電動代步車煞停控制之研究
論文名稱(外文):Study on Stopping Control of Brushless Mobility Scooter Using Regenerative Braking
指導教授:鄭銘揚鄭銘揚引用關係
指導教授(外文):Ming-Yang Cheng
學位類別:碩士
校院名稱:國立成功大學
系所名稱:電機工程學系碩博士班
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2012
畢業學年度:100
語文別:中文
論文頁數:101
中文關鍵詞:再生煞車電動代步車煞車控制
外文關鍵詞:regenerative brakingmobility scootersstopping control
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由於環保意識抬頭,人們逐漸了解節能減碳的重要性,因而如何有效的管理能源已成為各產業發展重要議題之一。對於電動載具而言,除了可透過提高馬達與驅動器本身的效率以達節能功效外,配置再生煞車之系統儼然已成為提升整體效能必備的關鍵技術。一般而言,電動代步車在操作方式上,並非由駕駛者來決定煞車制動力多寡,煞停過程之舒適與否,則取決於驅動控制器的煞停命令規劃好壞。市售代步車之驅動控制器為藉由調整煞停參數,藉以改變其煞停時間之快慢,然而卻無法得知其煞停命令如何給予。有鑑於此,本論文為於採用單級式全橋變頻器架構下,在不增加其他電子元件,及不需高精度位置感測器的前提時,將再生煞車技術應用於電動代步車系統。此外,針對三種不同的再生煞車切換策略,分析其能量回充效能與制動轉矩對馬達轉速之關係。最後,本論文將結合各切換策略之優點,定義出數種可行的煞停控制策略,於考慮煞停過程舒適性及可達較高能量回收效率之原則下,使得電動代步車可依據行駛速度來調整煞車命令。由實驗平台與實車測試結果可知,本論文所提出之代步車煞停控制策略可有效的達到舒適且回收能量效果。
With the trend of Eco-awareness, the issue of energy-efficiency and CO2-reduction has been rooted deeply in people's mind. Therefore, energy management systems have become a primary norm for every industry. For mobility systems, in order to advance the performance, in addition to increase the efficiency of motor, regenerative braking is one of the key techniques. In general, users have no control over the braking torque with mobility scooter. Instead, comfort and braking torque of braking process depends on the motor driver's control. The braking time of mobility scooter can be adjusted by driver system’s parameters. However, the know-how of control the braking torque by commercial driver system is unknown. Based on the above reasons, in this thesis, the regenerative braking can be applied to mobility scooter which uses a single stage bidirectional DC/AC converter without any additional electronic components or costly position sensors. In addition, for regenerative braking based on the three kinds of switching strategies, the relation between energy recovery performance and braking torque and motor’s speed will be analyzed. Finally, under the premise that energy recovery and riding comfort in braking process, several stopping controls of mobility scooter will be defined by combining each advantage of switching strategies. The feasibility of the proposed method is demonstrated by experimental results.
第一章 緒論.................................1
1.1 前言...................................1
1.2 研究動機與文獻回顧........................2
1.3 論文架構................................4
第二章 無刷電動代步車系統架構介紹................5
2.1 電動代步車介紹............................5
2.2 電動代步車驅動單元.........................8
2.2.1 無刷直流馬達之數學模型....................9
2.2.2 轉子位置感測器..........................11
2.2.3 無刷直流馬達驅動原理.....................15
2.2.4 電源側電流感測器重建相電流技術.............18
2.3 電動代步車煞車系統架構.....................22
2.3.1 馬達操作四象限..........................23
2.3.2 煞車系統介紹 ...........................25
第三章 電動代步車再生煞車命令規劃................28
3.1 前言....................................28
3.2 無刷直流馬達再生煞車時回充效能與轉速理論分析 ....31
3.3 無刷直流馬達再生煞車時煞車轉矩與轉速理論分析 ....51
3.4 電動代步車煞停命令規劃......................56
第四章 實驗架構與結果...........................60
4.1 實驗系統架構..............................60
4.1.1 硬體架構................................60
4.1.2 即時資訊傳輸功能.........................62
4.1.3 煞停實驗平台規劃.........................63
4.2 軟體程式架構..............................66
4.3 實驗結果探討..............................70
4.3.1 電流控制器測試..........................70
4.3.2 煞停平台實驗結果.........................72
4.3.3 電動代步車實際行駛測試 ....................78
4.3.4 實驗結果分析 ............................90
第五章 結論與未來研究建議........................94
5.1 結論.....................................94
5.2 未來研究建議..............................95
參考文獻.....................................96

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