| URN |
etd-0827115-091503 |
Statistics |
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|
| Author |
Ruei-Jhe Jiang |
| Author's Email Address |
No Public. |
| Department |
Technology for electrical engineering |
| Year |
2014 |
Semester |
2 |
| Degree |
Master |
Type of Document |
Master's Thesis |
| Language |
zh-TW.Big5 Chinese |
Page Count |
94 |
| Title |
Design and Implementation of an Electric Differential Controller for a Direct- Drive Autonomous Electric |
| Keyword |
turning-control
electronic differential
direct-drive
path sensing
path sensing
direct-drive
electronic differential
turning-control
|
| Abstract |
A mechanical differential is used to control the speed difference between left and right wheels for the conventional vehicles turning. However, the mechanical differential device cannot be applied to direct-drive electric vehicle, as the wheels are directly driven by motors individually. This thesis studies the electronic differential control method and implementation of a scaled-down version automatic electric vehicle to verify the feasibility and turning ability of the control method. The automatic electric vehicle can sense the deviation between vehicle and the preset path by using the optical sensors. Therefore, the path deviation is regarded as the differential speed requirement. Moreover, the motor speeds can be adjusted separately according to different path deviation. A MCU is used to construct an automatic electric vehicle. It integrates optical sensors, motor drive circuits and gear-reducer and applies the electronic differential control method. Whether the paths are straight line or curve, the vehicle shows fast and stable handling performance. Because the hardware structure of scaled-down version automatic electric vehicle is similar to an actual automatic electric vehicle, it can apply the relevant results of this research to improve the automatic control performance. |
| Advisor Committee |
Yi-Jen Wang - advisor
Chang-Huang Chen - co-chair
Ming-Tsan Lin - co-chair
Yi-Jen Wang - co-chair
|
| Files |
indicate access worldwide |
| Date of Defense |
2015-07-15 |
Date of Submission |
2015-08-27 |
