臺灣博碩士論文加值系統

本文藉由修正Linear Quadratic Regulator (LQR)設計方法，提出應用於四分之一車與二分之一車主動式懸吊系統之控制設計。文中仍利用LQR理論設計車身及輪胎的穩態響應；但由於LQR 理論無法直接針對系統暫態響應規格設計，本文將直接針對系統轉移函式的共振頻率附近調變設計暫態響應規格，以滿足乘坐舒適度、懸吊行程空間限制、及操控性能等設計需求。此外，本文亦提出一切換模式(switching control mode)控制器，使有限懸吊行程空間被充分利用，以期在各種不同的路面情況下皆能達到理想的乘坐舒適性。電腦模擬結果證明本文所提出之設計方法確實可針對系統暫態響應規格進行設計調變，而且主動式懸吊系統性能在與被動式懸吊系統性能比較之下亦獲得明顯的改善。

With a quarter car model and a half car model, a novel control schemes is proposed for force control in active suspension design by modifying Linear Quadratic Regulator (LQR) theory on frequency domain. The conventional LQR theory is applied to design the body and the tire position tracking ability with respect to road surface. For the LQR theory not capable of directly designing the controllers for the system transient response, the proposed controllers are sequentially modified around the resonant frequency of system transfer function to satisfy the ride comfort quality, suspension travel, and maneuver. Moreover, the switching control scheme is developed to self-adjust the linear control modes of this work for the flexible utilization of rattle space under various circumstances. Computer simulations are performed to verify the proposed control schemes.

ABSTRACT
CONTENTS
CHAPTER 1 INTRODUCTIONS
1.1 Background and Motivation
1.2 Literature Reviews
1.3 Organization of Thesis
CHAPTER 2 SYSTEM DESCRIPSION
2.1-1 Quarter Car Model
2.1-2 Half Car Model
2.2 The Road Profile
2.3 Definition of Performance Index
2.4 System Constraints
CHAPTER 3 QUARTER CAR MODEL CONTROL SCHEME
3.1 Enhancement Criteria of System Outputs
3.2 LQR Method Design
3.3 Transient Response Design on Frequency Domain
3.4 Switching Control Scheme
CHAPTER 4 SIMULATIN RESULTS OF QUARTER CAR MODEL
4.1 Linear Controller Design Process
4.2 Simulation Results of Switch Control Scheme
CHAPTER 5 HALF CAR MODEL CONTROL SCHEME
5.1 Enhancement Criteria of System Outputs
5.2 LQR Method Design
5.3 Transient Response Design on Frequency Domain
5.4 Switching Control Scheme
CHAPTER 6 SIMULATIN RESULTS OF HALF CAR MODEL
6.1 Linear Controller Design Process
6.2 Linear Control Simulation Results
6.3 Switching Control Scheme Simulation Results
CHAPTER 7 CONCLUSION
REFERENCES
APPENDIX A

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