Wheel Speed Control of Electric Vehicles by PI-Controller and Disturbance Observer

• Main Authors: Wang, Han-Yu, 王涵宇
• Other Authors: Hsiao, Te-Sheng
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/99372q

碩士 === 國立交通大學 === 電控工程研究所 === 105 === In recent years, due to the awareness of energy saving and environment protection, as well as the promotion of automatic transportation, development of electric vehicles (EVs) and automatic driving systems becomes irreversible trends in automotive industry. This study focuses on automatic wheel speed control of an electric golf car for on campus transportation. A PI-controller with a disturbance observer (DOB) is used and implemented in the micro controller TMS-F28335. The PI-controller achieves the desired steady state velocity following response, while the disturbance observer compensates for the load variation of the car and the inference of the road friction to enhance robustness of the system. Experiments were conducted on the campus road at National Chiao Tung University. The results show that the proposed controller significantly improves the wheel speed following performance, regardless of the road conditions and slopes.