臺灣博碩士論文加值系統

本論文係針對車輛懸吊系統之全車模型，設計一降階觀測器並以模糊控制(FLC)、滑動模式控制(SMC)、模糊滑動模式控制(FSMC)以及進化演算法(EP)來設計其主動式控制器。依據所設定之性能指標與最佳化控制設計所得之控制器進行比較以獲得驗證所設計之控制器具有較優良之表現。車輛懸吊系統之主要目的即在於讓乘客與駕駛者同時獲得較好的乘坐舒適度與路面掌控度。針對一部全車模型所設計的全階觀測器也在本論文中完成並實現了即時獲得路面狀況的資訊。在使用了模糊滑動模式控制(FSMC)設計於全車主動式懸吊系統後，本文中也以李亞普諾夫穩定度分析導證與確認了數理上的穩定度是收斂的。另外，在本論文中分別利用了凸起路面(Bumped Road)、隨機白雜訊起伏路面(White Noise Random Road)以及偽隨機雜訊起伏路面(Pseudo-Random Road)來進行設計完成的主動式懸吊系統模擬及測試。最後，我們設定了性能指標來驗證在本論文所設計的控制器在乘坐舒適度與路面掌控度具有比其它傳統控制理論有著更好的表現。

The main theme of this thesis is to design the observer for the full-car intelligent controllers of the active suspension system to improve the ride comfort and reduce the suspension deflection. The proposed fuzzy logic control (FLC), sliding mode control (SMC), fuzzy sliding-mode control (FSMC) and EP-based fuzzy control can decrease the suspension deflection and improve the ride comfort of the passengers. The observer of the full-car model of an automobile is first examined with using the measured outputs in this thesis. The stability property of the fuzzy sliding-mode controlled active suspension system is confirmed by the Lyapunov stability analysis. In order to make a comparison, we also introduce the optimal active suspension control (OASC) scheme. Three kinds of road profiles, a bad bumped road, a white noise random road, and a power spectral density (PSD) road profile are exploited to test the performance. All the computer simulations demonstrate that the proposed FSMC can provide the best ride comfort and the least suspension deflection among all the examined controllers under all these road profiles.

Abstract (Chinese) Ⅰ
Abstract (English) Ⅱ
Acknowledgement Ⅲ
Contents Ⅳ
List of Figures VI
List of Tables VIII





Chapter 1 Introduction 1
1.1 Motivation 1
1.2 Thesis Organization 5
Chapter 2 Full-Car Active Suspension System Model 6
2.1 Introduction 6
2.2 Full-Car Suspension Dynamics 7
2.3 Full-Car Suspension State Equations 9
2.4 Summary 12
Chapter 3 Observer based Fuzzy Sliding-Mode Control Design 13
3.1 Introduction 13
3.2 Design of SMC for Vehicle Suspension System 14
3.3 Design of FSMC for Vehicle Suspension System 17
3.4 Simulation Results 20
3.5 Summary 35
Chapter 4 EP-based Fuzzy Control Design 36
4.1 Introduction 36
4.2 Design of EP-based FLC for Vehicle Suspension System 37
4.3 Simulation Results 41
4.4 Summary 51
Chapter 5 Conclusions and Future Works 52
5.1 Conclusions 52
5.2 Future Works 53
References 54
Autobiography 60

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