臺灣博碩士論文加值系統

中文摘要

本文主要探討線控四輪轉向之操控特性控制，由於線控四輪轉向系統是將傳統轉向機柱利用馬達取代進而驅動轉向機，由於已經沒有轉向機柱機械結構，因此可在控制核心內加入不同的車輛穩定控制策略，並使車輛能夠達到四輪轉向，同時將車輛之重心側滑角以及橫擺率降低，改正傳統二輪轉向在低速上的機動性和高速過彎時的安全性、操控性以及穩定性。本研究在軟體模擬上為使用CarSim做模擬，進而分析車輛在動態上之穩定性，並與MATLAB\Fuzzy Logic Toolbox做結合，以增進CarSim在模擬車輛動態上的準確度。
本研究運用CAN Bus通訊協定以及分散式架構來建構線控轉向系統實驗平台。並利用LabVIEW圖控程式來建立控制平台系統的人機介面並包含即時監控功能。本研究於線控轉向系統實驗平台上，可分別驗證線控前輪轉向與線控後輪轉向，並利用閉迴路控制，除可精準控制前輪轉向，依據車速做判斷，達到後輪低速逆相位轉向及高速同相位轉向之控制目標。
本研究於線控實驗平台設計線控轉向之備用系統，並實現於線控實驗平台上，利用鋼索以及滾輪機構設計出線控轉向之備用系統。本研究將鋼索機構與線控轉向系統相互連結，即在平常線控轉向系統作動時，鋼索與線控轉向系統共同作動，在線控轉向系統喪失轉向功能時，能毫無時間差的介入線控轉向系統做轉向動作，讓駕駛者可以順利將車輛停置路邊等待救援。
關鍵字：線控轉向系統，四輪轉向，備用系統，CarSim。

ABSTRACT

The main purpose of this study focuses on the handling characteristics of vehicles with four-wheel steer-by-wire system. For getting rid of several limitations of the traditional steering system, this system can be used to stabilize the handling characteristics of vehicles’ with the handling strategy of stabilizing vehicles. In this handling strategy, it commands the front and rear steering angle with the objective of reference sideslip angle and yaw rate signals corresponding to the desired. Under this controlling system, vehicles can have not only the mobility at low speed but also the safety, maneuverability, and stability at high. This study analyzed the stabilities of dynamic vehicles mainly with the CarSim software, and also combined with the MATLAB/Fuzzy Logic Toolbox for improving the accuracy of dynamic vehicles imitation from CarSim.
The construction of distributed steer-by-wire system experimental platform is based on CAN Bus technique, using LabVIEW to connect with the steer-by-wire system platform and the controller of steering motor to reach the second control interface, and also use the experimental platform to verify four-wheel steer-by-wire system. This study uses closed-loop to control the rear wheel steering direction depends on the vehicle’s speed. As being at slow speeds, the rear wheels move in the opposite direction of the front wheels, while being at high speeds, the rear wheels move in the same direction as the front wheels.
This study used cables and wheeling mechanism to design and implement the backup system, and also apply it to the experimental platform of steer-by-wire system. Because of the connection between cables and wheeling mechanism, the system can intervene to the steer-by-wire system as soon as possible when the steer-by-wire system was failed. And to let the driver to pull over the vehicle smoothly and then wait for rescue beside the road.
Key words：Steer-by-wire System, Four-wheel-steering, Backup System, CarSim.

目錄

封面內頁
簽名頁
授權書...........................................iii
中文摘要.........................................iv
英文摘要.........................................v
誌謝.............................................vi
目錄.............................................vii
圖目錄...........................................x
表目錄...........................................xiv
符號說明.........................................xv

第一章 緒論.......................................1
1.1 前言 .........................................1
1.2 文獻回顧......................................2
1.3 研究動機......................................7
1.4 研究流程......................................8
第二章 車輛轉向系統介紹...........................11
2.1 傳統機械式車輛轉向系統.........................12
2.2 液壓輔助式車輛轉向系統.........................13
2.3 電子輔助式車輛轉向系統.........................14
2.4 線控車輛轉向系統..............................15
2.5 四輪轉向系統.................................17
2.5.1 機械式四輪轉向.............................18
2.5.2 電子式四輪轉向.............................19
第三章 線控四輪轉向系統車輛操控探討與設計..........23
3.1 線控四輪轉向系統架構.........................23
3.2 建立二個自由度的自行車動態模型................24
3.3 建立轉向馬達模型............................30
3.4 線控四輪轉向模型於CarSim建立.................33
3.4.1 車輛動態模擬軟體(CarSim)介紹...............34
3.4.2 線控四輪轉向系統模型.......................36
3.5 傳統車輛之轉向原理...........................38
3.6 四輪轉向之轉向原理...........................43
3.7 車輛穩定操控系統探討與設計....................46
3.7.1 前輪轉向之橫擺率控制.......................46
3.7.2 模糊控制理論..............................50
3.7.3 模糊控制器之車輛轉向穩定操控設計............52
3.8 車輛穩定操控模擬結果分析.....................59
第四章 線控轉向系統實驗平台建構..................73
4.1 分散式系統架構介紹..........................73
4.2　CAN Bus系統簡介...........................75
4.3　LabVIEW圖控程式介紹........................76
4.4 線控轉向系統實驗平台介紹.....................78
4.5 線控轉向系統之備用系統.......................88
第五章 實驗方法與結果...........................97
5.1 線控四輪轉向系統之控制程式....................97
5.2 線控四輪轉向系統之前輪轉向控制................99
5.3 線控四輪轉向系統之後輪轉向控制................101
5.4 線控四輪轉向系統之備用系統測試................103
5.4.1 線控四輪轉向系統備用鋼索之拉力試驗..........104
5.4.2 線控四輪轉向系統備用系統扭力負載測試........106
第六章 結論與建議..............................109
6.1 結論.......................................109
6.2 建議事項與未來研究項目.......................110
參考文獻........................................113
附錄...........................................120

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