A Study on the Strategy of Power Management with Dynamic Programming for a Parallel Hybrid Scooter

在本論文中，試圖針對台灣的特殊交通環境，提出一個改善交通油耗與汙染的方案。 其中，台灣大量以機車為交通工具的比例，讓對於以機車做為研究系統有強烈的動機。此，本研究將現行極為熱門的並聯式混合動力做為動力驅動架構(Parallel Hybrid Structure)套用在機車上面，並採用固定減速比的鍊條取代原本為主流的無段變速系統(Continuous Variable Transmission, CVT)，以解決CVT傳動效率過低的問題。 本論文的研究架構，會先建立系統的動態模型並搭配動態規劃演算法，找出此系統在行車型態ECE 40的最佳操作點與最佳省油性能。 藉由此結果，加以修正控制器的能量管理策略。 此策略，會再搭配順向模擬分析，與其他非使用動態規劃所設計之策略進行比較。 以證明以動態規劃為基礎所設計之能量管理策略的效果是優於其他策略。 此同時，開發了使用飛輪結構來等效車輛與駕駛者質量的實驗平台，並以數學與物理模型證明其有效性，進而提供更為方便的實驗平台且不失其擬真性，以供未來更深入的研究使用。This research aims to study the power management via dynamic programming for a parallel hybrid scooter.he system is composed of a fixed gear ratio made with a steel chain in place of the continuous variable transmission that is commonly used in scooters. s for the research structure of this thesis, this research established the dynamic system models first. Following that, it used the dynamic programming (DP) method to find the system’s operation points for the best fuel consumption under driving cycle ECE 40. Then, the operation points were used to modify the strategy for power management set in the controller. Then, this strategy will be put into a forward simulation to make a comparison with other strategies that are not based on the result of DP. This is to make sure that the effectiveness of the one from DP is superior to others.his research simultaneously designed a flywheel structure to emulate the inertia of the mass of drivers and scooter to provide an experimental platform for practice, without losing the effectiveness of emulation. Moreover, an authentication by mathematical and physical methods was also done. These can provide a use for the more in-depth research in future.誌謝 i文摘要 iibstract iiiist of Figures viiiist of Tables xvihapter 1. Introduction 1.1. Research Background 1.2. Literature Review 4.3. Motivation 9.4. Objective and Benefit 15.5. Research Structure 17hapter 2. Experimental System 19.1. Electric Propulsion System and Digital Controller 20.1.1. Motor and Motor Drive 20.1.2. Digital Controller and Peripheral Hardware 32.1.3. The Information Display Platform and Interface 50.2. The Mechanism Design 53.2.1. Transmission System Design 56.2.2. Engine System 62.2.3. Flywheel Dimension 64.2.4. The Use of Idle Wheel 65.2.5. Vibration Problem of the Engine 66hapter 3. Control Strategy on Energy Management 70.1. Basic Concept of Rule Extraction for DP 70.2. The Inherent Constraint of the System 73orque Constraint 73PM Constraint 74.3. Switch Rule Design 75ormal Mode 75echarge Mode 78.4. A Description of the Operation Scenario 80hapter 4. Dynamic Programming and Models 84.1. Dynamic Programming 84.2. System Models 91.2.1. Scooter Dynamics-Scooter Platform 92.2.2. The engine (YAMAHA RSZ100) 101.2.3. The Direct-Driven Motor 103.2.4. The Transmission System 104.2.5. The Battery 106.2.6. The State Equation and Assumptions 107.2.7. System Constraints 109.2.8. Discrete Models for DP 110hapter 5. Mounting of DP 115.1. Mount the Models into DP 115.1.1. The Meaning of SOC Difference 119.1.2. The Effect of Constraints 121.1.3. The Process of Optimal Path Search 124.1.4. The Application of the DP Results 133hapter 6. Simulation and the Results of the Experiment 134.1. Simulation Results 134.1.1. Simulation Results of Dynamic Programming 136.1.2. Rule Extraction from DP Results 144.1.3. Results of the Forward Simulation 146.2. Experimental Results 163.2.1. The Switch Process Design 163.2.2. The Experimental Process without the Recharge Mode 166hapter 7. Discussion, Conclusion and Future Work 172.1. Discussion 172.1.1. DP and Forward Simulation 172.1.2. Performance versus Scooter in the Market 177.2. Conclusion and Future Work 180.2.1. Conclusion 180.2.2. Future Work 181ppendix 184haft Connector 184echarge Current Control 186OC Estimation 187omenclature 189ibliography 19