臺灣博碩士論文加值系統

本論文旨在針對氣壓肌肉致動之主動式車輛懸吊系統進行自適應滑動模式控制器設計及實驗研究。氣壓肌肉致動系統由於氣體的可壓縮性、低黏阻、固有頻率低、閥體比例線圈的磁滯現象、零點飄移及閥軸運動時的中位無感應區等現象，使其成為高度非線性與時變之系統，因此要針對氣壓肌肉致動系統的動態特性建立精確之數學型，以作為滑動模式控制器之設計是非常不容易的。對此，本文提出具自調PD補償之適應性滑動模式控制器，以去除滑動模式控制器設計需要系統數學模式之限制及減少實際控制系統實現之困難度。在此控制方法中，控制器由兩部分組成，包含：自適應滑動模式控制器與自調PD補償器。其中，自適應滑動模式控制器利用傅立葉級數及自適應控制估測系統的未知非線性動態，故可去除滑動模式控制器設計需系統數學模型之限制，另外加入具即時自調能力之PD補償器來進行近似誤差、系統不確定性及外界干擾之補償，故可使控制器避免因函數估測誤差、未考慮之系統動態及干擾所造成之影響，且控制器設計無需系統數學模型及嘗試錯誤法進行控制參數調整與估測函數之選擇，並可改善滑動模式控制器的不連續振顫問題。整個控制系統在Lyapunov意義下漸進穩定且系統之追蹤誤差收斂於零的某一個鄰域內。最後，本論文將具自調PD補償之適應性滑動模式控制器，實現在實驗室研製的1/4車氣壓肌肉主動式車輛懸吊系統上，實驗結果顯示該控制器能有效處理路面的動態變化，對各種不同的顛簸路面均有相當不錯之減振與抑振效果。

The objective of this thesis was to design an adaptive sliding mode controller for use in active suspension systems with pneumatic muscle actuator (PMA) and to then conduct relevant research experiments. The PMA system is a highly nonlinear and time-variant system because of the various properties of air, such as its compressibility, low viscosity, low natural frequency, the hysteresis of proportional valve coils, zero drift, and the dead band in valve movements. Therefore, establishing a precise mathematic model based on the dynamic characteristics of the PMA system for the design of a sliding mode controller is extremely difficult. In response to this difficulty, the present study proposed an adaptive sliding mode controller with a self-turning proportional–derivative (PD) compensator to eliminate the need for an accurate dynamic model of the sliding mode controller and to reduce the difficulty of fabricating a control system. The controller has two parts, the adaptive sliding mode controller and self-turning PD compensator. A Fourier series and the adaptive control are applied to the adaptive sliding mode controller to estimate the unknown nonlinear dynamics for eliminating the need for an accurate dynamic model of the sliding mode controller. In addition, the PD compensator with real-time self-turning functionality is employed to compensate for approximation errors, uncertainties, and disturbances and thus mitigate the effects of approximated errors and unmodeled dynamics on the controller. Moreover, in the controller design, dynamic models and the trial and error method are not required to adjust the control parameters and select approximating functions. This design also resolves the problem of the discontinuous chattering of the sliding mode controller. The entire control system gradually reaches Lyapunov stability, and the tracking error of the system converges to the neighborhood of zero. The adaptive sliding mode controller with self-turning PD compensator was fabricated and applied to a quarter-car active suspension system with PMA that was constructed in the laboratory. The experiment results revealed that the controller was capable of managing dynamic changes on the road and was effective in reducing and suppressing shocks on various bumpy roads.

摘要i
ABSTRACTii
誌謝iv
目錄v
表目錄vii
圖目錄viii
第一章 緒論1
1.1前言1
1.2車輛懸吊系統1
1.3文獻回顧5
1.3.1主動式懸吊系統5
1.3.2氣壓肌肉致動器6
1.3.3控制理論8
1.4研究動機與目的9
1.5論文架構10
第二章 實驗設備與系統架構11
2.1四分之一車氣壓肌肉主動式車輛懸吊系統11
2.1.1氣壓肌肉致動系統13
2.1.2路面模擬系統14
2.2實驗系統設備15
2.2.1氣壓肌肉致動器15
2.2.2比例調壓閥17
2.2.3比例方向控制閥與標準氣壓缸17
2.2.4光學尺與磁性尺18
2.2.5加速度規與訊號放大器19
2.2.6介面卡20
2.2.7嵌入式系統與軟體撰寫環境20
2.3實驗系統架構21
第三章 數學系統模型建立23
3.1氣壓肌肉致動器23
3.2氣壓肌肉致動器系統數學模型26
3.3四分之一車氣壓肌肉主動式車輛懸吊系統數學模型28
第四章 控制理論與設計30
4.1滑動模式控制器設計30
4.2FOURIER函數近似法[52]32
4.3具自調整PD補償之適應性滑動模式控制器設計33
4.4輸入-輸出線性化36
4.5四分之一車氣壓肌肉主動式車輛懸吊系統控制器設計39
第五章 實驗結果與討論42
5.1氣壓肌肉致動器定位控制實驗42
5.2四分之一車氣壓肌肉主動式車輛懸吊系統實驗43
第六章 結論54
6.1結論54
6.2未來展望55
參考文獻56
作者簡介60

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