Application of Gain-Scheduled Control Method for Traction Force Control of Vehicle Wheels Driven by DC Motors

• Main Authors: Lin, Yu-Bang, 林郁邦
• Other Authors: Young, Jieh-Shian
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/88037833282015570604

碩士 === 國立彰化師範大學 === 車輛科技研究所 === 99 === This paper proposes an approach to evaluate and control the traction force of the vehicle wheels driven by DC motors directly without monitoring the slip ratio of the wheel. Utilizing the built character database of the DC motor, or so-called force-RPM-current database, a gain-scheduled approach is developed to provide the appropriate traction force while one traction wheel of the vehicle is traveling into different road surface. An illustrated simulation with a scenario close to real situation is also given to show the feasibility to evaluate and control the traction force through the database of the DC motor.