臺灣博碩士論文加值系統

本論文對汽車的各子系統作調查。具體重點是防鎖死煞車系統( anti-lock braking systems )結合主動式懸吊系統( active suspension systems )應用於半車模型( half-vehicle model )的控制設計。整合系統的控制目的是降低縱向速度之剎車時間與煞車距離。剎車距離，不僅可以由駕駛從踩著剎車踏板所提供之剎車力矩，還可由主動式懸吊系統在煞車期間所產生的煞車力矩提供對路面之正向力更進一步改善。

首先，半車之數學模型由煞車與懸吊的動態力學所建立，然後由非線性遞迴步階控制設計( nonlinear backstepping design )策略設計控制器達成控制目的。安全行駛於所有路況主要的技術是判斷剎車距離與良好的剎車性能。隨著不同路面情況，摩擦係數也會隨之改變，因此我們提出適當比例的演算法，使我們的控制器可以適應各種路況。為了達到最大的剎車性能，充分考慮和研究如何運用前後輪之間適當的剎車協調。也就是說，運用一個演算法讓個別子系統之控制器構造協調系統。此外，當車輛質量是未知的情況下，利用適應性遞迴步階設計( adaptive backstepping design )策略設計控制器於防鎖死煞車系統，從適應性方法得到車輛的質量。

This thesis investigates the integration of various subsystems of an automobiles chassis. The specific focus of this research is the control design of anti-lock braking systems (ABS) combined with active suspension systems (ASS) applied to a half-car model. The performance objective for the integrated approach is defined as the reduction of longitudinal velocity in both braking time and braking distance. The braking distance not only can be decreased by supplying braking torque from driver stepping on the brake pedal, but also can be further improved if the normal force generated from ASS is considered in the meanwhile.

Above all, a mathematical model of a half-car is established for the braking and suspension dynamics, and then the controllers designed by nonlinear backstepping scheme are developed to achieve our control objectives. Braking distance judgment and better braking performance capability are major skills required for a safe drive in all road conditions. The friction coefficient could be variant because of different road conditions, we so an appropriate proportion algorithm is proposed to make our controllers adapt various kinds of road conditions. For achieving maximum braking performance, fully applying suitable coordination between both front and rear brakes without locking either wheel must be considered and investigated. That is, individual controllers are developed for the subsystems and a governing algorithm is constructed to coordinate the controllers of these subsystems. Hence, a nonlinear controller designed by adaptive backstepping scheme is developed for ABS to guarantee that the controllers possess the potentials to adapt it self for uncertainty of vehicle mass.

Abstract i
Contents ii
List of Tables iii
List of Figures iv
1 Introduction 1
2 Mathematical Model 5
2.1 System Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Problem Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3 Nonlinear Backstepping Design 15
3.1 Backstepping Control Design . . . . . . . . . . . . . . . . . . . . . . . 15
3.2 Comparative Simulations . . . . . . . . . . . . . . . . . . . . . . . . . 25
4 Adaptive Backstepping Control 34
4.1 Adaptive Control Design . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.2 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5 Conclusions and Future Research 45
Bibliography 48

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