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研究生:顏銘賜
研究生(外文):Ming-Si Yan
論文名稱:應用電子煞車技術於電動機車循跡防滑系統之研究
論文名稱(外文):Study of Traction Control System with Electric Braking Technique for Electric Scooter
指導教授:楊銘基楊銘基引用關係
指導教授(外文):Ming-Ji Yang
口試委員:尚立人陳柏全
口試委員(外文):Li-Jen ShangBo-Chiuan Chen
口試日期:2012-07-13
學位類別:碩士
校院名稱:國立臺北科技大學
系所名稱:車輛工程系所
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:2012
畢業學年度:100
語文別:中文
論文頁數:73
中文關鍵詞:無刷直流馬達電動車電子煞車循跡防滑控制系統
外文關鍵詞:Brushless DC motorelectric-brakeelectric vehicleTCS
相關次數:
  • 被引用被引用:2
  • 點閱點閱:496
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  • 下載下載:55
  • 收藏至我的研究室書目清單書目收藏:1
本論文是將電子煞車技術應用於電動車的循跡防滑系統,並自行設計無刷馬達控制器以及周邊的小電路。駕駛者行駛於摩擦係數較低路面時,因路面不能提供足夠的摩擦力造成車輛打滑。為了避免車輛嚴重打滑而造成危害駕駛者行車安全以及浪費多餘能源,控制器會擷取車速及驅動輪訊號,並根據兩速度間的差值及誤差的變化量來計算出適合當下驅動輪之命令。因僅使用比例積分(PI)控制於循跡防滑系統上,並於車輛嚴重打滑時使用電子煞車做為輔助,來抑制瞬間滑差量以縮減滑差的暫態響應,故能降低控制器計算能力的需求。本論文所應用的電子煞車輔助不需改變原驅動器電路,且因提出此輔助技術,使系統控制器可不使用複雜的控制策略以及估測器,亦能達成循跡防滑系統的功能。最後本論文使用實車進行實驗,並以實驗結果來驗證所提出之方法可行性。

This study uses electric braking technique to implement traction control system of electric scooter, and designs a brushless DC motor driver and auxiliary circuits. When drivers drive on low coefficient of friction roads, the road cannot provide enough friction, causing the vehicle slip. To avoid vehicle seriously slip to lost handling causing driver’s safety and waste excess energy, the controller captures vehicle speed and driven wheel speed. According to the difference of speed and error to calculate the reference motor require. This study only use PI controller on TCS control and use electric brake when electric scooter slip to inhibit slip condition and to reduce transient response time, so the ability of MCU calculation demand is lower. This study uses the electric braking technique can avoid not only change the controller circuit but use complication algorithm and estimator, which can also achieve TCS control. Finally, the feasibility of the propose TCS is demonstrated by experimental results

摘 要 i
Abstract ii
誌 謝 iii
表目錄 vi
圖目錄 vii
第一章 緒論 1
1.1 研究動機及目的 1
1.2 文獻回顧 2
1.3 論文架構 7
第二章 無刷直流馬達驅動與電子煞車分析 8
2.1 無刷直流馬達之數學模型 8
2.2 無刷直流馬達驅動法 10
2.2.1 換流器開關驅動 10
2.2.2 無刷直流馬達驅動運轉分析 13
2.3 無刷直流馬達電子煞車分析 17
第三章 循跡防滑系統及通訊介面介紹 26
3.1 黏滯係數與滑差關係 26
3.2 控制區域網路匯流排(CAN bus)介紹 28
3.2.1 通訊介面選用 28
3.2.2 CAN Bus 通訊格式 29
3.2.3 CAN Bus硬體實現 30
3.2.4 CAN Bus應用 31
第四章 系統整合規劃及實現 33
4.1 系統架構 33
4.1.1 馬達驅動器系統架構 34
4.1.2 訊號處理板功能介紹 38
4.2 實驗設備與測試平台介紹 40
第五章 實驗結果 45
5.1 無刷直流馬達正常運轉模式實驗 45
5.2 無刷直流馬達電子煞車運轉模式實驗 47
5.2.1 電子煞車模式 47
5.2.2 馬達正常運轉與電子煞車切換防護 48
5.3 循跡防滑控制實驗結果 51
5.3.1 循跡防滑控制實驗-濕滑路面 52
5.3.2 循跡防滑控制實驗-泡泡水路面 58
5.4 馬達驅動器效率實驗結果 67
第六章 結論與未來展望 68
參考文獻 70
作者簡介 73


參考文獻

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