臺灣博碩士論文加值系統

隨著科技的進步，電動車輛技術已更加完善且普遍，但剎車系統還是採用傳統液壓輔助碟煞。雖然ABS防鎖死系統也有應用於電動車輛，但且目前的車輛中，其驅動系統與剎車系統為獨立的兩系統。本論文提出具有高剎車性能的電動車輛ABS防鎖死之剎驅一體控制器，利用剎車時馬達由電動機轉變成發電機之能量對馬達進行反向磁場剎車，設計具有快速響應及適應路面不確定性的防鎖死剎驅一體控制器。比較現有的再生制動與短路剎車法，本論文提出利用反電動勢進行反向磁場剎車法結合電容回充之方式，設計剎驅一體防鎖死控制器，利用PID控制器進行驅動，使用防鎖死滑差控制將滑差率控制在最佳範圍。在系統驗證中，實際進行不同的路面測試並觀測滑差率控制結果與剎車時間，驗證此防鎖死剎驅一體控制系統的性能且由剎車時間來驗證此法優於過去之短路剎車法。

As the science and technology, advanced, electric vehicle technology has been consummate and universal, but the braking system still uses mechanical discs or drum brakes. Although the anti-lock braking system have commonly been used in electric vehicles, however, most vehicles still use traditional hydraulic-based disc brake, and the driving system and braking system are two independent modules in the current vehicle.
In this research, an integrated driving and braking control system of the ABS design for electric vehicle with satisfactory braking performance is proposed. When braking, a motor is converted into a generator, which energy can be used to generate reverse magnetic braking torque and to realize an anti-lock braking controller with fast response.
Compared with the existing regenerative braking and short circuit braking methods, this research uses the back-EMF to yield reverse magnetic braking torque. It is combined with the capacitor regenerative braking to fulfill an anti-lock braking controller. We use a PID controller to drive the motor. We control the slip ratio to the optimal value by introducing a fuzzy slip ratio controller.
For the experimental verification, we have conducted a variety of on-road tests to examine performance of the slip ratio control, compared several tests to verify this method.

Contents
中文摘要……………………………………………………………………………….i
Abstract………………………………………………………………………………..ii
Content …………………………………………………………………………….…iii
List of Figures ...……………………………………………………………………...vi
List of Tables…....……………………………………………………………….….viii
Chapter 1 Introduction 1
1.1 Research background 1
1.2 Literature Review 2
1.3 Research motivation and purpose 3
Chapter 2 Mathematical Model of Driving System 4
2.1 Brushless DC motor 4
2.2 Hall sensor 4
2.3 Mathematical Model of BLDCM 6
2.4 Brushless DC motor control method 8
Chapter 3 Control Strategy 10
3.1 Control Process 10
3.2 PID controller 10
3.3 Fuzzy Slip Controller 13
3.4 Back-EMF 15
3.5 Electromagnetic Braking 16
3.5.1 Back-EMF reversal braking 17
3.5.2 The PWM duty cycle of the maximum braking torque 24
Chapter 4 Implementation of Integrated Driving and Braking System 25
4.1 Electric scooter 25
4.2 Hardware circuit 26
4.2.1 Micro control unit 26
4.2.2 Inverter 27
4.2.3 Gate Driver Isolation circuit 27
4.2.4 Hall effect sensor for front wheel measure 28
4.3 Software Design 29
4.3.1 Software flowchart 29
4.3.2 Scooter speed measure 30
4.3.3 Fuzzy Logic Slip Ratio Control 30
Chapter 5 Experimental Results 32
5.1 Driving Mode 32
5.2 Braking Mode 32
5.3 Road test for anti-lock braking system 33
5.3.1 Dry and rough road surface 35
5.3.2 Dry and smooth road surface 35
5.3.3 Wet and rough road surface 36
5.3.4 Wet and smooth road surface 37
5.3.5 Puddles and rough road surface 37
5.3.6 Puddles and smooth road surface 38
5.3.7 The previously method 39
Chapter 6 Conclusions and Future Works 41
6.1 Conclusions 41
6.2 Future Works 42
References 43

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[22]https://www.youtube.com/watch?v=OXHLQKw2z0M
[23]https://www.youtube.com/watch?v=xxPgKFJf0N8
[24]https://www.youtube.com/watch?v=WYY8BqkpvTk
[25]https://www.youtube.com/watch?v=Q1YuzYIIXVs