标题: | 强健性与可靠度控制在电动载具上之研究 Study of Robust and Reliable Control for Electric Vehicles |
作者: | 魏源廷 Wei, Yuan-Tin 梁耀文 Liang, Yew-Wen 电控工程研究所 |
关键字: | 电动载具;积分型顺滑模控制;顺滑模控制;可靠度控制;状态相依黎卡迪方程式;electric vehicles;integral sliding mode control;sliding mode control;reliable control;state-dependent Riccati equations |
公开日期: | 2009 |
摘要: | 本论文首先针对电动载具系统具有不确定参数与外在干扰提出强健控制方法,利用State Dependent Riccati Equation设计法可预测系统性能的特性,积分型顺滑模控制具有强健性及拥有额外设计自由度等优点来提升电动载具煞车系统之强健性,并且应用在三轮载具,模拟结果显示了所提之结合方法可以提升系统性能。除此之外,由于电动载具对于行车安全之需求,本论文也利用了顺滑模可靠度控制与错误侦测与估测机制针对当部分轮胎制动器完全损坏时,提升电动载具变换车道时的操控性。模拟结果显示了,当一个、两个或三个轮胎制动器完全损坏时,电动载具仍能达到良好的可靠度性能。 In this thesis, we first address the issues regarding the robust stabilization of a class of nonlinear uncertain systems using a combined scheme. The scheme consists of the state-dependent Riccati equation (SDRE) technique for the control of nominal systems and the integral sliding mode control (ISMC) strategy to compensate for the error when the system state deviates from the nominal system trajectory. It is shown that the state of the uncertain system using the combined scheme and that of the nominal system under the SDRE scheme are identical when the uncertainties are of the matched type. These analytic results are also applied to the brake control of a three-wheeled vehicle. Simulation results show that the control under the combined scheme could be intelligently adjusted so that the yaw rate and lateral velocity is as small as possible. Second, we deal with the reliable issues of yaw rate tracking for electric vehicles using yaw moment control strategy. The presented reliable controllers are organized via the sliding mode control technique. As a result, this reliable scheme is robust and is shown to be able to tolerate some of the actuators' faults. Simulation results demonstrate the benefits of the approach. |
URI: | http://140.113.39.130/cdrfb3/record/nctu/#GT079712579 http://hdl.handle.net/11536/44472 |
显示于类别: | Thesis |
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