臺灣博碩士論文加值系統

本論文旨在將氣壓肌肉致動器應用於主動式車輛懸吊系統上，先依據四分之ㄧ車懸吊系統模型，實際建置氣壓肌肉主動式車輛懸吊系統實驗平台，並進行減振與控制性能的研究，以驗證氣壓肌肉作為主動式車輛懸吊系統致動裝置之可行性。在系統控制方面，本論文針對四分之ㄧ車氣壓肌肉主動式懸吊系統，提出具有自調模糊滑動補償之區間第二型適應性模糊控制器(IT2AFC-STFSMC)，在此控制方法中，控制器由兩部分組成，包含單輸入模糊控制器和自調模糊滑動補償器。其中結合區間第二型模糊邏輯系統、滑動模式控制與適應性控制，設計單輸入區間第二型適應性模糊控制器來近似系統等效控制力，以去除滑動模式控制器設計需系統數學模型之限制，另外加入具即時自調能力之模糊滑動模式補償器進行近似誤差及外部干擾之補償；並可改善滑動模式控制器之不連續振顫問題，整個控制系統為Lyapunov漸近穩定且系統追蹤誤差會收斂至零的某一個鄰域內。本論文除研製一座1/4車氣壓肌肉主動式懸吊系統外，並實際將所設計之控制器實現於該系統上，實驗結果顯示氣壓肌肉主動式車輛懸吊系統在具自調模糊滑動補償之區間第二型適應性模糊控制器的補償下，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 apply the pneumatic muscle actuator in the active vehicle suspension system. In addition, through the quarter-car suspension system model, the active vehicle suspension system experimental model was substantially constructed, and vibration reduction and controlled performance were conducted in order to verify the feasibility of the active vehicle suspension system, using the pneumatic muscle as the actuator. In terms of system control, with the active vehicle suspension system of the quarter-car as the targeted, the interval type-2 adaptive fuzzy controller with self-tuning fuzzy sliding mode compensation (IT2AFC-STFSMC) was proposed. With this control method, the controller is composed of two parts, including the single input fuzzy controller and the self-tuning fuzzy sliding mode compensation. Taking advantages from the interval type-2 fuzzy systems, sliding mode control, and adaptive control, the proposed IT2AFC-STFSMC can exclude limitations of the systematic mathematical model needed to design the sliding model controller. In addition, the fuzzy sliding mode compensation with self-regulating ability was added to engage in approximate error and external interference compensation and improve the problem of discontinuous vibrations seen in the sliding model controller. The entire control system possesses asymptotic stability and the system tracking errors converge to a certain neighborhood of zero. In addition to the development of a quarter-car active vehicle suspension system, the controller design was practically applied to the system. The experimental results show that for the interval type-2 adaptive fuzzy controller with self-tuning fuzzy sliding mode compensation, 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 iv
目錄 v
表目錄 vii
圖目錄 viii
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 文獻回顧 4
1.3.1 氣壓肌肉致動器 4
1.3.2 主動式車輛懸吊系統 6
1.3.3 控制理論 7
1.4 研究動機 9
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 氣壓肌肉致動系統 16
2.3 路面模擬系統 22
2.4 控制系統 24
第三章 氣壓肌肉主動式懸吊系統數學模型 26
3.1 氣壓肌肉致動器 26
3.1.1 氣壓肌肉工作原理及其特性 26
3.1.2 氣壓肌肉致動器數學模型 29
3.2 四分之一車氣壓肌肉主動式懸吊系統數學模型 32
第四章 控制理論與控制器設計 34
4.1 模糊邏輯理論 34
4.1.1 第一型模糊邏輯系統 35
4.1.2 第二型模糊邏輯系統 37
4.1.3 區間第二型模糊邏輯系統 38
4.2 模糊滑動模式控制 42
4.3 具自調模糊滑動補償之區間第二型適應性模糊控制 46
4.3.1 穩定性與收斂性分析 48
4.4 基於輸入-輸出線性化具自調模糊滑動補償之區間第二型適應性模糊控制 51
4.4.1 輸入-輸出線性化 52
4.5 四分之一車氣壓肌肉主動式懸吊系統控制器設計 55
第五章 實驗結果與討論 58
5.1 氣壓肌肉致動系統伺服控制實驗 58
5.1.1 氣壓肌肉致動器定位控制實驗 59
5.1.2 氣壓肌肉致動器軌跡追蹤實驗 62
5.2 四分之一車氣壓肌肉主動式懸吊系統控制實驗 65
5.2.1 路面模擬 65
5.2.2 動態車體抑振控制實驗結果 71
第六章 結論與建議 83
6.1 結論 83
6.2 建議 84
參考文獻 85

1.Appleyard, M. and Wellstead, P. E. "Active suspension: some background," IEE Proceedings-Control Theory and Applications, 142, 2, 123-128 (1995).
2.賴峰甫，撓性車輛主動式懸吊系統之動態建模與強健性控制器設計，碩士論文，台灣科技大學自動化及控制研究所，台北 (2006)。
3.劉玉文，葉文裕，盧士一，「拖車司機振動暴露調查研究」, 勞工安全衛生研究季刊，第十四卷，第四期，第304-314頁 (2002)。
4.Pepo, M. H., Wilder, D. G. and Magnusson, M. "Possible Mechanism of Low Back Pain Due to Whole-Body Vibration," Journal of Sound and Vibration, 215, 4, 687-697 (1998).
5.宗光華，「人工肌肉夾持力的變結構控制」，北京航空航天大學學報，第二期，第15-19頁 (1990)。
6.Caldwell, D. G., Medrano-Cerda, G. A. and Goodwin, M. J. "Braided pneumatic actuator control of a multi-jointed manipulator," Systems, Man and Cybernetics, Le Touquet, 1, 423-428 (1993).
7.Chou, C. P. and Hannaford, B. "Static and Dynamic Characteristics of McKibben Pneumatic Artificial Muscles," IEEE International Conference on Robotics and Automation, San Diego, 281-286 (1994).
8.Caldwell, D. G., Medrano-Cerda, G. A. and Bowler, C. J. "Investigation of Bipedal Robot Locomotion using Pneumatic Muscle Actuators," 1997 IEEE International Conference on Rob otics and Automation, New Mexico, 1, 799-804 (1997).
9.李寶仁、劉軍、楊鋼，「氣動人工肌肉系統建模與仿真」，機械工程學報，第三十九卷，第七期，第23-28頁 (2003)。
10.Lilly, J. H. and Quesada, P. M. " A Two-Input Sliding-Mode Controller for a Planar Arm Actuated by Four Pneumatic Muscle Groups," Neural Systems and Rehabiltation Engineering, 12, 3, 349-359 (2004).
11.李醒飛、鄭奇、張國雄，「類人氣動肌肉模型與實驗研究」，天津大學學報，第三十八卷，第三期，第242-247頁 (2005)。
12.董宗彬，氣動人工肌肉伺服系統的位置與控制研究，碩士論文，蘭州大學流體動力與控制學院，蘭州 (2007)。
13.何國昆、劉吉軒、張振營，「氣動人工肌肉的動態驅動特性研究」，西安交通大學學報，第四十二卷，第五期，第588-591頁 (2008)。
14.Ogawa, K., Narioka, K. and Hosoda, K. "Development of whole-body humanoid pneumat-BS with pneumatic musculoskeletal system," 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, 4838-4843 (2011).
15.Park, Y. L., Chen, B. R., Young, D., Stirling, L., Wood, R J., Goldfield, E. and Nagpal, R. "Bio-inspired Active Soft Orthotic Device for Ankle Foot Pathologies," 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, 4488-4495 (2011).
16林江蔚，自調式適應控制於主動式懸吊系統之應用，碩士論文，國立台灣科技大學機械工程技術研究所，台北 (2001)。
17.Ostasevicius, V., Sapragonas, J., Rutka, A. and Staliulionis, D. "Investigation of Active Car Suspension with Pneumatic Muscle, "2002 SAE International Body Engineering Conference & Exhibition and Automotive & Transportation Technology Congress, Paris, Franc, 2002-01-2206 (2002).
18.Anakwa, W. K. N., Thomas, D. R., Jones, S. C., Bush, J., Green, D., Anglin, G. W., Rio, R., Sheng, J., Garrett, S. and Chen, L. "Development and control of a prototype pneumatic active suspension system," IEEE Transactions on Education, 45, 1, 43-49 (2002).
19簡振嘉，主動式懸吊系統之建模與參數辨識，碩士論文，崑山科技大學機械工程學系，台南 (2005)。
20.吳宗翰，應用PID、類神經網路於主動式懸吊系統之控制研究，碩士論文，雲林科技大學機械工程學系，雲林 (2005)。
21.謝振盛，主動式懸吊系統之最佳化控制器設計研究，碩士論文，崑山科技大學機械工程學系，台南 (2007)。
22.Kou, F. and Fang, Z. "An Experimental Investigation into the Design of Vehicle Fuzzy Active Suspension," 2007 IEEE International Conference on Automation and Logistics, Jinan, China, 959-963 (2007).
23.Fayyad, S. M. "Constructing Control System for Active Suspension System," Contemporary Engineering Sciences, 5, 4, 189-200 (2012).
24.Son, S. I. and Isik, C. "Fuzzy Control of an Automotive Active Suspension," Fuzzy Information Processing Society, Berkeley, CA, 377-381 (1996).
25.Nizar, A-H., Tarek, L., Dae. S. J., Jonathan, W. and Faysal, A-A."Sliding mode neural network inference fuzzy logic control for active suspension systems," IEEE Transactions on Fuzzy Systems, 10, 2, 234-246 (2002).
26.Huang, S. J. and Lin, W. C. "Adaptive fuzzy controller with sliding surface for vehicle suspension control," IEEE Transactions on Fuzzy Systems, 11, 4, 550-559 (2003).
27.Sam, Y. M. and Osman, J.H.S. "Robust controller for active suspension with hydraulic dynamics," 5th Asian Control Conference, Jinan, Melbourne, Victoria, Australia, 1, 598-603 (2004).
28.Chen, P. C. and Huang, A. C. "Adaptive Multiple-surface Sliding Control of Hydraulic Active Suspension Systems Based on the Function Approximation Technique," Journal of Vibration and Control, 11, 5, 685-706 (2005).
29.Cao, J., Liu, H., Li, P. and Brown, D. "Adaptive Fuzzy Logic Controller for Vehicle Active Suspensions with Interval Type-2 Fuzzy Membership Functions," 2008 IEEE InternationalConference on Fuzzy Systems, Hong Kong, 83-89 (2008).
30.蒙以正「智慧型類神經滑動模式之車輛主動懸吊系統控制」，南亞學報，第28卷，289-301 (2008)。
31.Lin, J., Lian, R. J., Huang, C. N. and Sie, W. T., "Enhanced fuzzy sliding mode controller for active suspension systems," Mechatronics, 19, 7, 1178–1190 (2009)
32.黃宇白，具人體模型之車輛主動式懸吊系統設計，碩士論文，台灣科技大學機械工程學系，台北 (2009)。
33.Tabatabaei, S., Barzegar, A., Sadeghi, M. S. and Roosta, P. "Fuzzy PD+I and Fuzzy PID Controllers Design for a Nonlinear Quarter Car Suspension System," 2010 International Conference on Computer Applications and Industrial Electronics, Kuala Lumpur, 186-190 (2010).
34.Huang, S. J. and Chen, H. Y. "Adaptive sliding controller with self-tuning fuzzy compensation for vehicle suspension control," Mechatronicss, 16, 10, 607-622 (2006).
35.Festo，"Datasheet of DMSP-20-250N Type Fluidic Muscle".
36.Lee, Y. K. and Shimoyama, I. "A multi-channel micro valve for micro pneumatic artificial muscle," 15th IEEE International Conference on Micro Electro Mechanical Systems, Las Vegas, 702 - 705 (2002).
37.Festo, "Fluidic Muscle DMSP/MAS" (2010).
38.Festo, "Proportional pressure regulator VPPM With added dimensions: Fast, universal, precise" (2012).
39.Festo, "Proportional pressure regulators and valves VPPM, VPPE, MPPE, MPPES, MPYE and the new VPPM-MPA For correct pressure and precise regulation" (2008).
40.美商國家儀器股份有限公司台灣分公司http://sine.ni.com
41.楊鋼、李寶仁、劉軍，「氣動人工肌肉特性分析的新方法」，液壓與氣動，第十期，第22-25頁 (2002)。
42. 張化光，何希勤，模糊自適應控制理論及其應用，北京：北京航空航天大學出版社 (2002)。
43.Wang, L. X., Adaptive fuzzy systems and control: design and stability analysis, New Jersey, Prentice-Hall (1994).
44.Mendel, J. M. "Type-2 Fuzzy Sets and Systems: An Overview," IEEE Computational Intelligence Society, 2, 2, 20-29 (2007).
45.Mendel, J. M. and John, R. I. B. "Type-2 fuzzy sets made simple," IEEE Transactions on Fuzzy Systems, 10, 2, 117-127 (2001).
46. Mendel, J. M., John, R. I. B. and Liu, F. "Interval Type-2 Fuzzy Logic Systems Made Simple," IEEE Transactions on Fuzzy Systems, 14, 6, 808-821 (2006).
47.吳建成，簡化區間第二型模糊控制器，碩士論文，國立宜蘭大學電機工程學系，宜蘭 (2010)。
48.Lin, T. C. "Based on interval type-2 fuzzy-neural network direct adaptive sliding mode control for SISO nonlinear systems," Commun Nonlinear Sci Numer Simulat, 15, 12, 4084-4099 (2010).
49.Palm, R. "Sliding mode fuzzy control," IEEE International Conference on Fuzzy Systems, San Diego, 519-526 (1992).
50. Chiang, M. H., Lee, L. W. and Liu, H. H. "Adaptive fuzzy controller with self-tuning fuzzy sliding-mode compensation for position control of an electro-hydraulic displacement-controlled system," Journal of Intelligent and Fuzzy Systems, accepts for poublish (2013).
51.Kim, S. W. and Lee, J. J. "Nonlinear control with fuzzy sliding mode surface," Fuzzy Sets and Systems, 71, 9, 367-395 (1995).
52. Zhang, H., Lilong, C. and Zeungnam, B. "A Fuzzy Basis Function Vector-Based Multivariable Adaptive Controller for Nonlinear Systems," IEEE Transactions on Systems, Man, and Cybernetics, 30, 1, 210-217 (2000).
53. Horikawa, S., Furuhashi, T. and Uchikawa, Y. "On fuzzy modeling using fuzzy neural networks with the back-propagation algorithm," IEEE Computational Intelligence Society, 3, 5, 801-806 (1992).
54.Wang, L. X. "Fuzzy systems are universal approximators," IEEE International Conference on Fuzzy Systems, San Diago, 1163-1170 (1992).
55.Slotine, J. E. and Wang, L. X., Applied Nonlinear Control, New Jersey, Prentice-Hall (1991).
56.佟紹成，非線性系統的自適應模糊控制，北京：科學出版社 (2006)。
57.晉茂林，機器人學，台北：五南圖書出版有限公司 (2000)。