臺灣博碩士論文加值系統

本文主要探討線控四輪轉向系統之車輛穩定控制，由於線控四輪轉向系統是由馬達驅動轉向取代傳統轉向柱，因此可在其控制核心內加入車輛穩定控制之策略，使車輛能達到四輪轉向之效果，同時控制車輛之重心側滑角及橫擺率，使車輛在行駛時都能保持在最低的重心側滑角及橫擺率的範圍內，以增加車輛在低速的機動性和高速過彎時的安全性、操控性以及穩定性。本研究利用模擬軟體CarSim，分析模擬車輛行駛時之穩定性。
本研究運用分散式架構以及CAN Bus通訊協定技術，建構線控轉向系統實驗平台。線控四輪轉向控制實現於線控轉向系統實驗平台上，驗證線控前輪轉向與線控後輪轉向，利用閉迴路控制，除了精準控制前輪轉向，依據車速判斷，達到後輪低速逆相位轉向及高速同相位轉向之控制目標。
在控制器中，加入主動轉向之可變轉向比功能，依據車速高低、方向盤角度、前輪轉向角度及加減速力道等的訊號，整合辨識判斷後，調整轉向比，因應車輛動態狀況進行適度調整。在低車速時，控制器會讓前輪轉向比減少，如在市區或停車時，轉彎及迴轉都比較輕鬆簡便。當車速提高時，控制器會讓前輪轉向比增加，並同時搭配後輪轉向，透過後輪轉向以減少方向盤轉向的角度，減輕變換車道後的車身搖晃與側滑情況發生。

The main purpose of the study focuses on the stability control of vehicle with four-wheel steer-by-wire system. Vehicles with four-wheel steer-by-wire system get rid of limitations of traditional steering system, which can be developed the vehicle stability control. In vehicle stability control, the commands front and rear steering angles with the objective of reference sideslip angle and yaw rate signals corresponding to the desired vehicle handling behaviour. Under this control system, the vehicle would have stable handling at high speed or low speed in cornering. The study used the CarSim software to verify the proposed method for the vehicle stability control.
The construction of distributed steer-by-wire system experimental platform based on CAN bus technique. Use the experimental platform to verify four-wheel steer-by-wire system. The study use of closed-loop control, the rear wheel steering direction depends on the vehicle speed, at slow speeds, the rear wheels move the opposite direction of the front wheels, while at high speeds, the rear wheels move in the same direction as the front wheels.
The controller features an active steering function which is aimed for optimal control of the front-wheel steering angle through variable steering gear ratio. At lower speeds, this technology reduces the amount that the steering wheel must be turned improving performance in situations such as parking and other urban area, while at higher speeds, the performance is such that steering becomes more responsive and provides improved directional stability.

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 6
1.4 研究流程 7
1.5 內容大綱 9
第二章 車輛轉向系統介紹 10
2.1 傳統機械式車輛轉向系統 11
2.2 液壓輔助式車輛轉向系統 12
2.3 電子輔助式車輛轉向系統 13
2.4 線控轉向系統 14
2.4.1 線控轉向系統介紹 14
2.4.2 線控轉向之備用系統 16
2.5 四輪轉向系統 22
2.5.1 機械式四輪轉向 23
2.5.2電子式四輪轉向 24
第三章 線控四輪轉向系統車輛穩定控制探討與設計 26
3.1 線控四輪轉向系統架構 26
3.2 建立二個自由度的自行車動態模型 27
3.3 建立轉向馬達模型 33
3.4 建立線控四輪轉向模型於CarSim 39
3.4.1 車輛動態模擬軟體(CarSim)介紹 39
3.4.2 線控四輪轉向系統模型 42
3.5 車輛穩定控制探討與設計 46
3.5.1 傳統車輛之轉向原理 46
3.5.2 橫擺率控制之車輛轉向穩定控制 51
3.5.3 回饋控制之線控四輪轉向穩定控制 53
3.6 車輛穩定控制模擬結果分析 59
第四章 線控轉向系統實驗平台建構 74
4.1 分散式系統架構介紹 74
4.2 CAN Bus系統簡介 76
4.3 LabVIEW圖控程式介紹 77
4.4 線控轉向系統實驗平台介紹 78
第五章 實驗方法與結果 92
5.1 線控四輪轉向系統之控制程式 92
5.2 轉向馬達量測實驗 94
5.2.1 轉向馬達扭力實驗 94
5.2.2 轉向馬達響應實驗 96
5.3 線控四輪轉向系統之前輪轉向控制 97
5.4 線控四輪轉向系統之後輪轉向控制 100
5.5 主動轉向控制之可變轉向比 02
第六章 結論與建議 104
6.1 結論 104
6.2 建議事項與未來研究項目 105
參考文獻 107
附錄 113

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