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Design of Anti-lock Braking System for Electric Vehicle Using Sliding Mode and PI Control
|關鍵字:||防鎖死煞車系統;ABS;再生煞車;動能煞車;短路煞車;滑動模式控制;regenerative braking;dynamic braking;short-circuit braking;sliding mode control||出版社:||電機工程學系所||引用:|| S. M. Sue, Y. S. Huang, J. S. Syu and C. Y. Sun, “A bi-directional power ipm-bldc motor drive for electrical scooters,” in Proc. Int. Conf. Industrial Electronics and Applications, Taichung, 2010, pp. 1330-1334.  C. Y. Lee, “A high performance brushless dc motor driving system for an electric motorcycle,” Master Thesis, Department of Electrical Engineering, Tatung University, Taipei, Taiwan, 2001.  J. S. Lin and L. C. Fu, “Model analysis and performance assessment of electrical motorcycles,” in Proc. American Control Conference, 1999, pp. 2698-2702.  H. M. Hu, “Identification for parameterized modeling of electric scooters,” Master Thesis, National Chung Cheng University, Mechanical Engineering, 2010.  H. B. Pacejka and I. J. M. Besselink, “Magic formula tyre model with transient properties,” Vehicle System Dynamic Dynamics, vol. 27, pp. 234-249, 1997.  T. Suzuki and H. Fujimoto, “Slip ratio estimation and regenerative braking control without detection of vehicle velocity and acceleration for electric vehicle at urgent brake-turning,” in Proc. International Workshop on Advanced Motion Control, Nagaoka, 2010, pp. 273-278.  K. Fujii and H. Fujimoto, “Traction control based on slip ratio estimation without detecting vehicle speed for electric vehicle,” in Proc. Power Conversion Conference, Nagoya, 2007, pp. 688-693.  C. C. Hua and S. J. Kao, “Design and implementation of a regenerative braking system for electric bicycles based on dsp,” in Proc. Int. Conf. Industrial Electronics and Applications, Beijing, 2011, pp. 703-707.  H. Seki, K. Ishihara, S. Tadakuma, “Novel regenerative braking control of electric power-assisted wheelchair for safety downhill road driving,” IEEE Transactions on Industrial Electronics, vol. 56, no. 5, pp. 1393-1400, 2009.  M. J. Yang, H. L. Jhou, B. Y. Ma and K. K. Shyu, “A cost-effective method of electric brake with energy regeneration for electric vehicles,” IEEE Transactions on Industrial Electronics, vol. 56, no. 6, pp. 2203-2212, 2009.  J. M. H. Cid and P. A. P. Moreno, “Design of a variable speed drive with dynamic braking for induction motor for electric vehicles,” in Proc. Power Electronics Congress , Acapulco, 2000, pp. 211-214.  H. Y. Ren, H. Feng, P. T. Sun and J. J. Ren, “Design and research of dynamic braking circuits in electric propulsion ship,” in Proc. Int. Conf. Intelligent Human-Machine Systems and Cybernetics, Nanjing, 2010, pp. 163-165.  Y. P. Yang, H. C. Lin and C. T. Lu, “Design and integration of power wheels with rim motors for a powered wheelchair,” in Proc. Int. Conf. Applied Superconductivity and Electromagnetic Devices, Sydney, 2011, pp. 154-157.  D. Peng, J. W. Zhang and C. L. Yin, “Regenerative braking control system improvement for parallel hybrid electric vehicle,” in Proc. Technology and Innovation Conference, Hangzhou, 2006, pp. 1902-1908.  Y. Gao, L. Chu and M. Ehsani, “Design and control principles of hybrid braking system for ev, hev and fcv,” in Proc. Vehicle Power and Propulsion Conference, Arlington, 2007, pp. 384-391.  O. Tur, O. Ustun and R. N. Tuncay, “An introduction to regenerative braking of electric vehicles as anti-lock braking system,” in Proc. Intelligent Vehicle Symposium, 2007, pp. 944-948.  A. Dadashnialehi, Z. Cao and A. Kapoor, “Intelligent sensorless abs for regenerative brakes,” in Proc. Electric Vehicle Conference, Greenville, 2012, pp. 1-5.  T. F. Lee, “The research of switched wheel motor windings applied to regenerative braking system,” Master Thesis, National Taipei University of Technology, Mechanical Engineering, 2007.  J. M. Zhang, B. Y. Song and G. Sun, “An advanced control method for abs fuzzy control system,” in Proc. Int. Cong. Intelligent Computation Technology and Automation Conference, Hunan, 2008, pp. 845-849.  W. Y. Wang, I. H. Li, M. C. Chen and S. F. Su, “Dynamic slip-ratio estimation and control of antilock braking system using an observer-based direct adaptive fuzzy-Neural controller,” IEEE Transactions on Industrial Electronics, vol. 56, no. 6, pp. 1746-1756, 2009.  P. Xu and Y. Zheng, “Slip-ratio control of abs based on sliding mode control,” in Proc. Control and Decision Conference, Guilin, 2009, pp. 5522 – 5526.  T. H. Shim, S. H. Chang and S. Lee, “Investigation of sliding-surface design on the performance of sliding mode controller in antilock braking systems,” IEEE Transactions on Vehicular Technology, vol. 56, no. 2, pp. 747-759, 2009.  Chih-Jung Lu, “The design of unmanned avation vehicle for digital sevo-driver controller,” Master Thesis, Feng Chia University, Electrical Engineering, 2004.||摘要:||
In recent years, the design of electric scooter (ES) uses brushless DC motor (BLDCM) in the place of brushed DC motor. Besides the life of BLDCM is longer, BLDCM has more superior characteristics such as power output than brushed DC motor. This research constructs an anti-lock braking system (ABS) for ES utilizing the braking force generated when electrical energy releases to load to design an anti-lock braking controller which has rapid torque response and compensation for system uncertainty. An electrical ABS is proposed in this thesis associating with dynamic braking and short-circuit braking. PI current controller is used to adjust the braking force, while slip ratio sliding mode control regulates slip ratio into ideal value. For the system realization, first of all, the braking scene is simulated using MATLAB on different road surfaces based on Pacejka’s magic formula tyre model (MFTF). Then, the digital signal processor (DSP) is used as electric control unit (ECU) to design a braking driver. Finally, an experimental test bench is used to verify the proposed system.
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