強健性與可靠度控制在電動載具上之研究

Abstract

本論文首先針對電動載具系統具有不確定參數與外在干擾提出強健控制方法，利用State Dependent Riccati Equation設計法可預測系統性能的特性，積分型順滑模控制具有強健性及擁有額外設計自由度等優點來提升電動載具煞車系統之強健性，並且應用在三輪載具，模擬結果顯示了所提之結合方法可以提升系統性能。除此之外，由於電動載具對於行車安全之需求，本論文也利用了順滑模可靠度控制與錯誤偵測與估測機制針對當部分輪胎制動器完全損壞時，提升電動載具變換車道時的操控性。模擬結果顯示了，當一個、兩個或三個輪胎制動器完全損壞時，電動載具仍能達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.