臺灣博碩士論文加值系統

磁流變液(magneto - rheological fluid, MRF)是新型開發中的智慧型材料，隨著外加磁場改變，產生不同物理特性之剪應力，且其剪應力與磁場之關係近乎線性，過程可控、可逆、反應時間快等特性，廣泛用於制動系統以及阻尼系統中。
現今防鎖死煞車系統(Anti-Lock Braking System, ABS)最常見的控制方法是使用on-off控制閥，可藉由提高控制閥的開關頻率來提升煞車效能，但該方法受限於系統本身現有之油壓反應時間以及開關閥頻率；因此若現有系統可與反應時間較快的MR煞車系統結合，則可有效提升煞車效能以及穩定性。
本論文主要研究MR ABS煞車系統與複合式ABS煞車系統，並進行其動態模擬與分析。研究中使用車速估測器估側目前車速，並計算其機車滑差值，且利用路面估測器求得路面之最佳理想滑差值。ABS控制則利用模糊控制器與自組織模糊控制器兩種控制器設計ABS系統。而複合式ABS煞車系統是由油壓系統與MR煞車系統兩種系統結合而成，並配合機車動態分析軟體，進行MR ABS煞車系統與複合式ABS煞車系統之模擬分析。MR ABS模擬部分分為一般模糊控制器與自組織模糊控制器兩種ABS控制器，在ABS控制器部分的結果，自組織模糊控制器對路面的適應性較高，且煞車效能最多約能提升18%。複合式ABS煞車系統，則是分為固定油壓式、濾波式與開關閥式三種複合式煞車系統，由模擬結果可知，複合式ABS煞車系統整體煞車效能較傳統油壓ABS煞車系統約提升8%效能，未來可望將此系統運用於汽機車上。

Magneto - rheological fluid (MRF) is a new development of smart materials. It is studied and applied widely in the braking damping systems because of the controllable viscosity changes with applied magnetic field at almost linear relationship, reversible and fast response time and other characteristics.
Nowaday, control algorithm using in anti-lock braking system (ABS) is the same common method which is to use on-off control valve. The valve can be controlled by increasing the switching frequency to improve braking performance, but the method is limited by the system itself existing in hydraulic switching valve reaction time and frequency. Therefore, if an MR brake system with fast response time combines to a conventional braking system, It can effectively improve the braking performance and stability.
In this thesis, a hybrid ABS braking system using MR brake is proposed, Dynamic simulation and analysis were conducted. Speed estimator used in this study is continually estimated lateral speed which calculates vehicle slip values. Road Condition Estimation is used to obtain the best ideal slip value. ABS control using Self-Organizing Fuzzy controller with two kinds of fuzzy controller. The hybrid ABS brake system is composed of the hydraulic system and the MR brake system. The combination of the two systems was simulated and analyzed by dynamic analysis software for pure MR ABS braking system and hybrid ABS braking system using MR brake. The controller is divided into general fuzzy controller with two kinds of self-organizing fuzzy ABS controller. The results shows that self-organizing fuzzy controller provides high adaptability on the road while braking performance can be improved up to approximately 18%. Hybrid ABS systems using MR brake are divided into three types: fixed-oil -pressured hydraulic system, filter-typed system and switch-valve-typed system. The simulation results of those three systems show that the hybrid ABS system overall performance increased to about 8 % efficiency compared to conventional hydraulic ABS system. This system is expected to be applied for future vehicle.

中文摘要.................................................i
英文摘要...............................................iii
誌 謝....................................................v
目 錄...................................................vi
表目錄................................................viii
圖目錄..................................................ix
第一章 緒論..............................................1
1.1.前言.................................................1
1.2.文獻回顧.............................................2
1.2.1 磁流變液原理與應用.................................2
1.2.2 煞車系統與控制.....................................5
1.3 研究動機與目的.......................................7
1.4. 論文架構............................................8
第二章 機車動態模型建立..................................9
2.1 車速估測.............................................9
2.2 單輪動態數學模型....................................11
2.3 滑差定義與路面估測..................................13
2.3.1 滑差定義..........................................13
2.3.2 路面估測..........................................15
2.4 磁流變液煞車器......................................18
第三章 ABS控制器的設計..................................20
3.1 理想滑差設計........................................20
3.1.1 固定式理想滑差設計................................20
3.1.2 最佳理想滑差估測..................................21
3.2 模糊ABS控制器設計...................................23
3.3 自組織模糊控制理論與設計............................28
3.3.1自組織模糊控制器理論...............................28
3.3.2自組織ABS模糊控制器設計............................29
第四章 MR ABS煞車模擬分析...............................39
4.1固定式理想滑差ABS FC架構.............................39
4.1.1 固定式理想滑差ABS FC模擬..........................40
4.1.2 ABS FC模擬結果與討論..............................47
4.2固定式理想滑差ABS SOFC煞車架構.......................48
4.2.1固定式理想滑差ABS SOFC模擬.........................49
4.2.2 ABS SOFC模擬結果與討論............................52
4.3應用RCE計算最佳滑差之ABS SOFC架構....................53
4.3.1 RCE計算理想滑差之ABS SOFC模擬.....................54
4.3.2 RCE估測最佳滑差之ABS煞車模擬結果與討論............57
第五章 複合式煞車系統...................................58
5.1 固定油壓式複合煞車系統架構..........................59
5.1.1 固定油壓式複合煞車系統模擬........................60
5.1.2 固定油壓式複合煞車系統結果與討論..................66
5.2 濾波式複合煞車系統架構..............................67
5.2.1 濾波式複合煞車系統模擬............................68
5.2.2 固定油壓式與濾波式複合煞車系統比較................79
5.2.3 濾波式複合煞車系統與其他煞車系統比較..............80
5.3 開關閥複合式ABS煞車系統架構.........................84
5.3.1開關閥複合式ABS煞車系統模擬........................84
5.3.2開關閥複合式ABS煞車系統與其他煞車系統比較.........101
5.4 結論與討論.........................................105
第六章 結論與未來展望..................................107
6.1 結論...............................................107
6.2 未來展望...........................................108
參考文獻...............................................109
符號彙編...............................................113

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