臺灣博碩士論文加值系統

本研究探討四輪獨立驅動車的性能問題，設計載人之純電動車，使用智慧型控制理論實現速度控制。四輪輪轂馬達定速控制分別使用兩種model-free的控制器：具自調性能的滑動模糊控制(FSMC)與基於函數近似法的適應控制(FAT-base AC)。兩種控制器用來處理行駛時輪轂馬達所遭受無法預期之外界負載干擾與微小擾動對馬達造成的不良影響，提高強韌與穩定性，並比較兩者性能上之差異。車輛上使用線控轉向系統(SBW)，利用model-base的模型參考適應控制(MRAC)達到輪胎的轉向定位。基於四輪速度控制與線控轉向系統的功能，設計在車輛低速行駛時的電子差速器，達成轉向的順暢度與穩定性。最後將軌跡規劃與半主動式懸吊之功能應用於車輛。
實驗上建構一輛智慧型純電動車，其尺寸設計以實車之一半大小為規格。規劃整車X-by-Wire系統，設計馬達驅動、行車控制、線控轉向與電源供應之模組，並使用FPGA作為整車核心控制器。探討不同的智慧型定速控制法則與不同的轉向角之情況，實現車輛轉向用之電子差速器，最後針對實驗數據進行分析與討論。

In this research, we design and build an intelligent pure electric car with half size of compact car, and design the whole car X-by-wire control system, which includes motor driver, driving controller, steer-by-wire and energy manage systems. This electric car is four-wheel drive vehicle without transmission system. The FPGA was used as the control kernel of whole car to monitor the vehicle driving velocity, turning situation and other mechatronics control manipulation. Two kind of intelligent control schemes are employed to monitor the wheel driving velocity. They are self-adjusting fuzzy sliding mode control and functional approximation based adaptive control. They have adaptability and robustness for taking care of the unanticipated external loading disturbance and system time varying factor. The steer-by-wire system is achieved by using a model reference adaptive adaptive controller based on steering motor position control object. In addition, an electric differential system is designed based on four wheels speed control and the steer-by-wire system to obtain vehicle driving smoothness and steering stability. The driving path is planned to evaluate the system steering performance, too. Finally, the whole electric car dynamic driving characteristics and control laws performance are investigated based on the analytical and experimental data.

摘要　I
Abstract　II
誌謝　III
目錄　IV
圖目錄　VII
表目錄　X
第一章 緒論　1
1.1　研究動機與背景　1
1.2　文獻回顧　4
1.3　論文架構　8
第二章　車輛模型與硬體架構　9
2.1　車輛模型　9
2.1.1　全車震動七自由度模型　10
2.1.2　高速轉向三自由度模型　12
2.1.3　低速轉向二自由度模型　14
2.1.4　永磁無刷直流馬達模型　16
2.2　車輛機構設計　20
2.2.1　車架結構　20
2.2.2　動力系統　21
2.2.3　懸吊系統組件　23
2.2.4　轉向機構　25
2.3　行車控制系統　27
2.3.1　控制器　28
2.3.2　回授感測器　29
2.3.3　類比轉數位模組　31
2.4　線控轉向系統　32
第三章　系統控制理論　35
3.1　模糊滑動模式控制器(Fuzzy Sliding Mode Control)　35
3.1.1　模糊控制器(Fuzzy Control)　35
3.1.2　滑動模式控制(Sliding Mode Control)　38
3.1.3　滑動模式控制器結合模糊控制器　43
3.2　函數近似適應性控制(FATAC)　45
3.2.1　函數近似法(Functional Approximation Technique)　45
3.2.2　函數近似法結合適應控制器　48
3.3　基於PID參數調整之MRAC控制器　52
3.3.1　參考模型適應控制(Model Reference Adaptive Control)　52
第四章　數位控制器設計　55
4.1　行車控制器設計　55
4.1.1　速度控制器架構　56
4.1.2　周邊裝置通訊介面　58
4.1.3　數位濾波器設計　60
4.1.4　行車控制流程　61
4.2　馬達驅動器控制架構　62
4.2.1　驅動器架構　62
4.2.2　橋式驅動電路　64
4.3　電池電量回授　68
4.4　電子差速器　70
4.5　駕駛人軌跡命令追蹤設計　74
第五章　實驗結果與討論　77
5.1　四輪獨立速度控制響應　77
5.1.1　FATAC控制器之實驗結果　77
5.1.2　FSMC控制器之實驗結果　100
5.2　電子差速器　109
5.2.1　Ackermann-Jeantand轉向模型之模擬結果　110
5.2.2　外力推動車輛之四輪被動測試　111
5.2.3　開迴路速度響應控制　113
5.2.4　閉迴路速度響應控制(無差速模型)　115
5.2.5　閉迴路速度響應控制(加入差速模型)　117
5.3　線控轉向系統　119
5.4　軌跡追蹤實驗　122
5.5　可變阻尼懸吊系統響應　124
第六章　結論與未來展望　126
6.1　結論　126
6.2　未來展望　127
參考文獻　128

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