臺灣博碩士論文加值系統

本論文旨在進行型式四分之一車主動式懸吊系統之設計與控制，本測試平台主要由兩組麥花臣避震器、一個氣壓缸與一個氣壓肌肉主動式懸吊所組成，透過氣壓缸來模擬產生所需之顛坡路面，本論文使用PID(Proportional Integral Differential)控制模式，設計氣壓肌肉主動式車輛懸吊系統的PID控制器，並實際將所設計之控制器實現於該系統上，以提供車輛良好的乘坐舒適性與駕駛的操控性。在實驗結果顯示氣壓肌肉主動式車輛懸吊系統在PID控制器的補償下，對各種不同的顛簸路面均有相當不錯之減振與抑振效果。

This thesis aimed to design and control of a novel active vehicle suspension for a quarter-car model. The test bench mainly consists of two MacPherson suspension components, one pneumatic cylinder, and one pneumatic muscle based active suspension. The pneumatic cylinder is used to produce the desired simulation of bumpy road surfaces. This thesis used the PID(Proportional Integral Differential) model system, to design an PID mode controller of the pneumatic-muscle active vehicle suspension system. The controller design was practically applied to the system. To provide the better riding comfort and driving controllability. The experimental results indicated that under the compensation of the PID mode controller, the active vehicle suspension system showed good results in vibration reduction and vibration inhibition on different bumpy road surfaces.

摘要i
ABSTRACT ii
誌謝 iii
目錄 iv
表目錄 vi
圖目錄 vii
第一章 緒論 1
1.1 前言 1
1.2 車輛懸吊系統的種類 2
1.3 研究動機 4
1.4 文獻回顧 5
1.4.1 主動式車輛懸吊系統 5
1.4.2 氣壓肌肉 7
1.4.3 PID的發展與現況 8
1.5 論文架構 11
第二章 實驗系統架構與設備 12
2.1 實驗系統架構 12
2.2 路面模擬系統 16
2.3 氣壓肌肉致動系統 18
2.4 工業電腦控制系統 23
第三章 主動式車輛懸吊系統數學模式建立 25
3.1 氣壓肌肉致動器 25
3.2 氣壓肌肉工作原理及其特性 25
3.3 氣壓肌肉致動系統數學模型 29
3.4 四分之一車氣壓肌肉主動式懸吊系統數學模型 31
第四章 控制理論與控制器設計 34
4.1 PID控制器的數學模型 34
4.2 PID 控制器的基本原理 35
4.3 控制器參數對控制系統的影響 36
4.4 數位PID控制器 37
4.4.1 位置式PID控制 38
4.4.2 增量式PID控制 39
第五章 實驗及結果討論 40
5.1 氣壓肌肉伺服控制實驗 40
5.1.1 氣壓肌肉定位控制實驗 40
5.1.2 氣壓肌肉軌跡追蹤實驗 43
5.2 四分之一車氣壓肌肉主動式懸吊系統控制實驗 45
5.2.1 路面模擬 45
5.2.2 動態車體位置控制實驗結果 49
5.3 實驗結果綜合討論 56
第六章 結論與建議 57
6.1 結論 57
6.2 建議 57
參考文獻 58

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