| Summary: | 碩士 === 國立臺北科技大學 === 車輛工程系所 === 96 === The motor parameters of the electric scooter might change under different operating conditions. In this research, adaptive control is applied for the electric scooter to improve the performance of the traction torque control. First, a dynamic simulation model is established in Matlab/Simulink, which consists of driver model, motor dynamics, tire dynamics, and longitudinal dynamics. Recursive least square approach of system identification is used to identify the parameters of the electric motor with pulse width modulation dynamics. The identified parameters are then utilized to design an adaptive PI controller for traction torque control of the wheel motor. The dynamic simulation model is used to evaluate the performance of the proposed algorithm. Finally, an experimental platform is established in this research to verify the proposed algorithm. A driving circuit is designed for the wheel motor. Preliminary simulation and experimental results show that the traction torque error of the proposed algorithm is smaller than that of the conventional PI controller under various operating conditions.
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