Adaptive Control and its Application to Electric Differential System of Electric Vehicle
Date Issued
2006
Date
2006
Author(s)
Fan, Sheng-Kai
DOI
zh-TW
Abstract
The objective of this thesis is to apply the adaptive algorithm on dual driven motors in an electric vehicle. According to the ability of system identification and the superior capability of suppressing load disturbances of the adaptive controller, an adaptive speed controller with on-line PI controller is designed to cope with the unanticipated interference from the surroundings, or to overcome the slight perturbation of parameters which might be harmful to the system. Furthermore, this control method can improve the robustness of whole vehicle.
Appeal to the good performance when driving, the hierarchical control structure also comprises Model Following Control, Load Observer and Slip Ratio Controller besides the primary adaptive speed controller. This control structure ensures that the vehicle can maintain two driven motors at a synchronous speed when moving straightly. However, when the vehicle is cornering, the Direct Yaw-moment Control is applied to distribute the speed and torque of the dual motors appropriately so that the cornering behavior of the vehicle becomes more stable and comfortable.
Finally, MATLAB/Simulink is uesd to set up the model and numerically simulate for the proposed control structure. However, a FPGA digital chip and PC are integrated to implement the adaptive speed control strategy which consists of a real motor and a virtual motor established in PC, then analyse the experimental results in detail.
Subjects
適應控制
電動車輛
差速
搖擺力矩控制
滑差控制
adaptive control
electric vehicle
differential speed
yaw-moment control
slip-ratio control
Type
thesis
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