2010-08-012024-05-18https://scholars.lib.ntu.edu.tw/handle/123456789/700807摘要：為配合國家政策，加強推動低碳動力車輛之使用，以研發零污染的電動車輛為重點，提高交通工具能源效率與減碳率為目標。本計畫延續過去十多年直接驅動電動車動力系統的研發成果，提出雙輪轂馬達電動轎車之偏擺運動控制的研究，期能在電動車輛系統模組與關鍵技術上有所突破。 車體運動除了在縱向與橫向平移運動之外，車體旋轉運動主要包括滾轉、俯仰與偏擺，其中滾轉與俯仰運動與懸吊系統設計及行車舒適性有強烈關係，而偏擺動態分析與控制，直接與車輛安全操控有重要關連。此計畫暫不列入滾轉與俯仰運動分析與控制，將專注於偏擺動態分析與控制。車體偏擺運動控制系統可由雙迴路方式達成：外迴路控制系統主要完成直接偏擺力矩控制，產生適當的電流分配命令至內迴路控制系統；內迴路控制系統主要以電流分配達成控制雙輪轉速的目標，其中包括車輪轉速與滑差的估測、輪胎與地面負載估測、及適應控制。 本計畫將以商用轎車車體與底盤為平台，重新設計車輪馬達懸吊機構，安裝軸向磁通扁平直流無刷車輪馬達於後輪中，製作高功率馬達驅動與控制器，選擇與購置適當的電池，安裝各式感測器與致動器，藉動態分析模擬與道路測試，探討偏擺運動控制方法，使整車運動過程中有穩定的操控性。 <br> Abstract: The development of low-carbon transportation vehicles has been a policy of National Energy Bureau, whose goal aims to increase energy economy and carbon reduction. This project initiates a study on the yaw motion control of pure electric vehicle driven by dual wheel motors, which extends the applicant’s previous research achievement of direct driven electric vehicles over the past decade. The purpose of this research is to find new technologies of electric vehicles and their critical system modules. In addition to the longitudinal and lateral translations, the rotational vehicle motion can be described in yaw, pitch and roll directions. Roll and pitch motions have strong relationships with the design of suspension that affects the driving comfort, while yaw dynamics and control have something to do with driving safety and maneuverability. This research will only focus on the yaw motion and its control by neglecting pitch and roll dynamics. Yaw motion control can be described by dual control loops. The outer loop is responsible for yaw moment control while the current commands to both driving wheel motors are given. Then, the inner loop is responsible to distribute current to both wheel motors, so that the wheel speeds are adjusted for a proper yaw motion. In the meantime, the wheel speeds and slip ratio are observed, the surface load or friction between tire and road surface is estimated, then the adaptive control based on the Lyapunov stability criterion is employed to determine control parameters. This project will utilize a commercial vehicle as a platform, where a suspension mechanism will be redesigned for the axial-flux pancake shape dc brushless motors installed inside two rear wheels. High power motor drive and controller will be designed and fabricated, battery sets will be selected, and various sensors and actuators will be allocated. The yaw motion control will be investigated through simulations and experiments, that will help examine vehicle stability and maneuverability.直驅式電動車輪轂馬達直接偏擺力矩控制滑差控制Directly driven electric vehiclewheel motordirect yaw moment controlslip ratio control