電動車輪內馬達伺服控制之研究

Abstract

輪內馬達與一般直流馬達相較之下，具有如下優點:硬體佔用空間小、重量較輕、成本較低、不需減速器，且傳動機構簡單，對整體系統而言，驅動系統的運轉效率和功率密度較高以及組件應力較小，相對可延長馬達壽命。 因此，本論文主要目的在設計電動車輪內馬達伺服數位控制器及建立一個輪內馬達伺服控制系統平台，並以此平台估測輪內馬達的模型及測試驗證此數位控制器的效能。整個系統架構可分為三個部份：1.馬達驅動線路；2.馬達伺服數位控制器；3.PC端馬達伺服控制軟體。 本論文內容介紹輪內馬達工作原理、規格以及直流截波器的動作原理，並實際設計推導整個輪內馬達伺服數位控制器。最後建立以Microchip Pic18F452單晶片微處理器為核心的輪內馬達伺服控制平台，並實際驗證所設計的數位PID控制器的效能。

Comparing to general DC Motor, In-Wheel Motor has the following advantage: low cost, small size, light weight, no deceleration device, and relatively simple transmission mechanism. For over all system, it has the higher efficiency and higher power density, and smaller stress of components, which could prolong motor’s life. The main object of this thesis is to construct a digital servo in-wheel motor system, and to test the digital PID controller performance. The system consists three parts: 1. In-Wheel Motor driver ; 2. Digital PID controller ; 3. Servo control interface software. First of all, principle of In-Wheel Motor, specification, and principle of dc chopper are introduced. In addition, the design and implement the digital PID controller. Finally, a Microchip Pic18F452-based In-Wheel Motor servo system is designed and verified the performance by Servo control interface software.