伸縮電動車之機電實測驗證

Abstract

本研究係驗證伸縮電動車的轉向系統及煞車系統之機電控制。為能夠配合伸縮車可以更有效的行進及停止，針對各系統進行控制策略軟體撰寫及硬體配置。利用電腦進行模擬操作輪轂馬達及直線型步進馬達。驗證輪轂馬達運作情形及直線型步進馬達是否能夠推動煞車總泵內的柱塞，架上操作確認程式及硬體的配合情形。最終進行實車測試。 架上測試，藉由轉向電位計的電壓值及規則庫判斷行進方向，判斷依據為直行(2.3V至2.7V)，左轉(電壓值低於2.3V)，右轉(高於2.7V)；其控制策略利用阿克曼轉向原理分別算出兩輪的控制電壓加上行進訊號電壓，兩輪轂馬達依照規則庫的控制策略進行差速，在60°及120°，兩輪所輸出的電壓差最大，轉向效果最佳，最後已做實車測試進行更進一步調整。 線控煞車撰寫控制策略，煞車作動前，發出5 V的電壓給步進馬達控制器，使步進馬達不作動。當訊號一送出，步進馬達控制器會接收到10-3秒取樣脈波訊號，推動煞車總泵柱塞，作動煞車總成。作動過程中安裝鐵片進行夾持測試，其結果煞車系統作動良好，步進馬達能推動柱塞。使煞車總成夾持住鐵片，最後已做實車測試進行更進一步的調整。This study is to experimentally verify the mechatronics control of the steering system and braking system for sizable electric vehicle. In order to be suited for sizable electric vehicle, and for more effective operation and braking, this study used computer simulation to control the wheel motor and linear actuator stepper motor. Software and hardware tested actual drive scenarios. Results of the steering-by-wire tests showed relatively small differences in the speed difference between the two wheels which leads to an insufficient change of direction. Steering control and wheel motor reaction were sensitive. Through both hardware and software tests, we have verified different steering action; for more precise adjustment, we have conducted actual driving tests. Braking by wire control strategy was as follows. During action, the brakes receive a pulse signal, which pushes the main brake pump, thus achieving braking function. We have conducted actual driving tests.