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研究生： 紀岳漢
Ji, Yue-Han
論文名稱： 四輪獨立驅動電動車扭矩分配控制系統
Torque Distribution Control System for Four-Wheel-Independent-Drive Electric Vehicles
指導教授： 劉彥辰
Liu, Yen-Chen
學位類別： 碩士
Master
系所名稱： 工學院 - 機械工程學系
Department of Mechanical Engineering
論文出版年： 2017
畢業學年度： 105
語文別： 中文
論文頁數： 136
中文關鍵詞： 四輪驅動電動車 、扭矩分配 、容錯控制 、滑移比 、硬體迴路模擬 、不均勻摩擦係數路面
外文關鍵詞： Electric vehicle, Torque distribution, Slip ratio, Motion control, Split friction region, Fault tolerant control, Hardware in the loop
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    • 電動車相較於引擎車輛，有低汙染、快速且準確的扭力輸出、易於量測扭矩及獨立驅動的優點，基於上述優點，自動化車輛的控制系統相繼提出。根據智慧車輛分級，多層控制器的結合有助於自動駕駛的發展，且能應付多數行駛時的需求，為了提升駕駛的安全性及穩定性，許多研究針對中上層控制器設計改良，達到強健、穩定且有效的速度、橫擺力矩命令追蹤。為了應付加減速、上下坡或多變的路況，有研究提出下層扭矩分配控制器，解決在摩擦係數不均勻路面下行駛時的車輛扭矩分配，然而，多數的扭矩分配策略尚停留在命令較於簡單的情況，鮮少同時考慮車輛轉向時的扭矩分配狀況，且多數的扭矩分配控制器只驗證單一控制器的穩定，缺乏與其他控制器結合分析。
    基於上述問題，本論文提出下層扭矩分配策略，能應用於四輪獨立驅動電動車，此策略基於各輪的滑移比設計，且能應用於車輛轉向時，前輪轉向角與橫擺力矩的需求，提出的控制策略易與中上層控制器結合，成為整合型控制器，做為智慧車輛自動駕駛的銜接橋梁，驗證在不均勻摩擦係數道路下行駛的表現，此外，論文也考慮車輛行駛時馬達發生致動器錯誤時的解決方式，做為提出下層扭矩分配策略的延伸。本論文透過模擬驗證提出的下層控制器、整合型控制器、容錯下層控制器，另外也採用硬體迴路模擬，透過虛實整合的形式達到模擬及實驗的共同優點，測試提出的整合型控制器於駕駛實際操作時的表現。

    This thesis addresses a novel slip-ratio-based torque distribution strategy for electric vehicles (EVs) to avoid slippage when driving over a split friction surface. With the combination to an upper and middle controller, the desired driving force and yaw moment can be distributed to four driving wheels by utilizing the proposed lower controller. Stability analysis by using Lyapunov theorem is presented to show that the distribution method can equalize the slip ratios for the wheels on the same side of EVs. In addition, we also propose two torque distribution parameters for driving force KF and moment KM so that it is more flexible and easier to design a lower controller for EVs. This distribution method is able to equalize the slip
    ratios for wheels on the same side of EVs, so that the slipping motion can be avoided. Besides, this thesis considers the fault tolerant control as an extended
    example for proposed lower controller. In addition, the hardware in the loop (HIL) is used to verify the ability of use in real time situation. The HIL is an important
    connection between the pure simulation and real vehicle. The entire simulation is built on MATLAB, RT-lab and CarSim to construct the vehicle model and control
    implementations.

    圖目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 表目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 第一章緒論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.1 研究背景. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.2 研究目的. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.3 研究貢獻. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 1.4 論文架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 第二章車輛模型. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 2.1 輪對地模型. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 2.2 車輛底盤模型. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 2.3 車輛模擬分析軟體CARSIM介紹. . . . . . . . . . . . . . . . . . . . 32 第三章車輛整合型控制器. . . . . . . . . . . . . . . . . . . . . . . . . . . 35 3.1 上層速度、橫擺角速度參考值及前輪轉向控制器. . . . . . . . . . 36 3.2 中層驅動力、橫擺力矩控制器. . . . . . . . . . . . . . . . . . . . . 40 3.3 下層扭矩分配控制器. . . . . . . . . . . . . . . . . . . . . . . . . . 44 3.3.1 基於正向力之扭矩分配策略. . . . . . . . . . . . . . . . . . 46 3.3.2 基於滑移比之扭矩分配策略. . . . . . . . . . . . . . . . . . 49 3.3.3 基於滑移比之分配策略增益值討論. . . . . . . . . . . . . . 53 第四章致動器容錯控制. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.1 馬達錯誤型態. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.2 調整扭矩分配比之致動器容錯控制. . . . . . . . . . . . . . . . . . 58 4.3 多致動器錯誤的容錯. . . . . . . . . . . . . . . . . . . . . . . . . . 63 4.4 驅動訊號飽和之容錯控制修正. . . . . . . . . . . . . . . . . . . . . 65 第五章模擬結果與討論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 5.1 扭矩分配控制之模擬. . . . . . . . . . . . . . . . . . . . . . . . . . 69 5.1.1 下層控制器應用於區域滑移直線路面. . . . . . . . . . . . . 70 5.1.2 下層控制器應用於區域滑移彎曲路面. . . . . . . . . . . . . 74 5.1.3 下層控制器應用於連續滑移直線路面. . . . . . . . . . . . . 78 5.1.4 整合型控制器應用於區域滑移彎曲路面. . . . . . . . . . . . 82 5.2 致動器容錯控制之模擬. . . . . . . . . . . . . . . . . . . . . . . . . 87 5.2.1 容錯控制應用於單致動器故障. . . . . . . . . . . . . . . . . 87 5.2.2 容錯控制應用於多致動器故障. . . . . . . . . . . . . . . . . 92 5.2.3 容錯控制應用於單致動器故障且訊號飽和. . . . . . . . . . 96 第六章實驗結果與討論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 6.1 硬體迴路模擬(Hardware in the Loop)介紹. . . . . . . . . . . . . . 101 6.2 即時(Real-time)模擬. . . . . . . . . . . . . . . . . . . . . . . . . . 103 第七章結論與未來展望. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 7.1 結論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 7.2 未來展望. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 參考文獻. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 附錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 A. Simulink架構圖. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

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