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タイトル: Research on Novel Chassis Structure for Advanced Motion Control of Electric Vehicles
その他のタイトル: 電気自動車の運動制御のための新しい車体構造に関する研究
著者: Kim, Yunha
著者(別言語): 金, 潤河
発行日: 2011年9月27日
抄録: Recent popularization of electric vehicles is remarkable. Some of the leading automobile manufacturers are launching partially or fully electrified vehicles to compete for the preoccupancy of the market, and many research groups around the world are working on the vehicle electrification and its related issues. Also each of the governments all over the world is planning the county's transportation electrification target, which is expected to be sharply increasing in the near future. One of the major reasons for the recent revisiting of EVs is the increasing concern for the environmental issues. EVs are zero-emission vehicles, which means that they do not emit carbon oxides, nitrogen oxides, and carbon hydrates, which are known to be causing environmental problems. In addition, but more important point is that EVs are said to be more energy efficient than the conventional internal combustion engine vehicles. The well-to-wheel efficiency of EVs is fairly comparable to that of ICEVs, however, the price is much cheaper, and the tank-to-wheel efficiency of EVs overwhelms that of ICEVs. However, the merits of the vehicle electrification do not remain only in the environmental or energy perspectives. By using electric motors in the drivetrain, the vehicle motion control can be changed. From the motion control point of view, it is widely known that, compared to conventional vehicles mounting internal combustion engines, electric vehicles have several significant advantages in vehicle dynamic performance for the sake of the excellence of electric motors in control. Utilizing the advantages of using electric motor, many motion control strategies for EVs, such as anti-slip traction control, and roll and yaw stability control, are introduced. These control methods turned out to be reasonably effective that EVs can run more safely than the ICEVs in poor road conditions. In addition to these properties, vehicle electrification enables EVs to excel the conventional ICEVs in terms of vehicle motion, by assigning EVs two kinds of inputs -- the steering and the direct yaw moment -- while the conventional vehicles have only one input -- the steering. However, most of these research works are based on the four-wheeled vehicle chassis structure with the conventional mechanical steering system, which has not been changed from the beginning of the massive production of the Ford Model T in 1908. It is originally designed and optimized for an internal combustion engine to transmit all power to the four driving wheels. Consequently it is clear that to use the conventional chassis structure for the independent motor driven EVs is a waste of ability, which is the motivation for this thesis. This thesis is on the study and proposal of a novel structure of EVs for advanced motion control. Despite the underlying importance, however, it seems that there has been no attempt to provide an appropriate and unique structure for the independent motor driven EVs. In this work, followed by the studies on wheel placements and their effects on the vehicle behavior, a novel chassis structure using caster wheels and independent driving motors is proposed. Provided with four wheels the system is designed to be statically stable, and with caster wheels on the front axle the proposed system is able to use the two kinds inputs -- the steering and the direct yaw moment -- effectively for two-dimensional motion control. The consequent unique advantages of the system are shown with experimental results. Considering the advantages shown in this work, the proposed system could be an attractive alternative for the future EV's structure for better dynamic performances. This thesis first introduces the background and the motivation of the work in chapter 1, and covers the fundamentals of vehicle dynamics in chapter 2, which underlie the observations and discussions throughout this work. In chapter 3, wheel placements and their effects on the vehicle dynamics are studied. Some criteria to evaluate the system stability and compatibility are introduced and used, and the results of the evaluations are discussed. Based on the study, a novel structure for EVs using caster wheels and independent driving motors is proposed in chapter 4. The system is analyzed with its corresponding mathematical model, and the advantages of the system are shown with the experimental results. Finally, conclusive remarks are made, and future works are shown in chapter 5.
内容記述: 報告番号: ; 学位授与年月日: 2011-09-27 ; 学位の種別: 修士 ; 学位の種類: 修士(工学) ; 学位記番号: ; 研究科・専攻: 工学系研究科電気系工学専攻
URI: http://hdl.handle.net/2261/49878
出現カテゴリ:1132225 修士論文(電気系工学専攻)
025 修士論文


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