臺灣博碩士論文加值系統

本論文旨在針對四分之一車氣壓肌肉主動式伺服懸吊系統進行智慧型控制器設計及實驗研究，氣壓肌肉伺服系統由於氣體的可壓縮性、低黏阻、固有頻率低、系統摩擦力、閥體本身對負載的非線性特性、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，使氣壓肌肉主動式伺服懸吊系統具有非線性時變與不確定的動態特性，其精確數學模型難以被建立，故無法以模型為基礎的控制理論進行控制器設計。因此，本論文結合區間第二型模糊邏輯與滑動模式控制，發展模式自由的區間第二型模糊滑動控制器，以去除控制器設計需系統數學模式之限制及減少實際控制系統實現之困難度。因輪胎轉動的彈跳現象所造成的輪胎變形與車身加速度動態效應，使得所提出之結合區間第二型模糊邏輯與滑動模式控制無法有效的克服，在車輛的乘坐舒適性與操控性，無法同時被有效改善。因此，為了進一步改善車輛的乘坐舒適性，本論文在原有位移迴授的區間第二型模糊滑動控制架構下，嘗試加入加速度迴授的區間第二型模糊滑動控制器，進行氣壓肌肉主動式伺服懸吊系統的實驗研究，實驗結果證實，針對各種不同的路面與車輛行駛速度，氣壓肌肉主動式伺服懸吊系統在雙迴路區間第二型模糊滑動控制器的補償下，其所呈現的乘坐舒適性，皆優於被動式懸吊及未加入加速度補償的主動式區間第二型模糊滑動控制。

This thesis designed an intelligent controller for quarter-car pneumatic muscle active vehicle suspension systems and conducted an experimental study for the proposed controller. Pneumatic muscle servo systems are time-varying systems with high nonlinearity because of numerous factors such as the air compressibility, low viscous damping force, low natural frequency, the friction forces in the system, the valves’ nonlinear characteristics subjected to loading, the hysteresis of proportional solenoids, zero drift, and dead-zone effect during spool movement. As a result, the associated precise mathematical models is difficult for designing controllers through the model-based control theory. To overcome the limitation involving the need for mathematical models when designing controllers and reduce the difficulty in developing actual control systems, this thesis developed an interval type-2 fuzzy sliding mode controller by integrating interval type-2 fuzzy logic and sliding mode control. However, bouncing tires during tire rotations induce dynamic effects such as tire deformation and unintended vehicle acceleration that obstructs the effectiveness of the integrated interval type-2 fuzzy and sliding mode control. That is, compared with passive control strategies, the proposed control method could not simultaneously elevate riding comfort and vehicle handling. To enhance riding comfort, this thesis incorporated an acceleration feedback interval type-2 fuzzy sliding mode controller into the sprung mass displacement feedback interval type-2 fuzzy sliding mode control framework and then performed an experimental study on the pneumatic muscle active vehicle suspension system. The experiment results showed that for different road surfaces and vehicle speeds, the proposed double-loop interval type-2 fuzzy sliding mode controller in the pneumatic muscle active vehicle suspension system yielded a superior riding comfort compared to passive suspension and active interval type-2 fuzzy sliding control without acceleration compensation.

摘要 i
ABSTRACT ii
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 懸吊系統 2
1.3 文獻回顧 5
1.3.1 氣壓肌肉致動器 5
1.3.2 氣壓肌肉致動器控制方法 8
1.3.3 主動式車輛懸吊系統 9
1.3.4 主動式懸吊系統控制方法 10
1.4 研究動機及目的 11
1.5 論文架構 12
第二章 實驗系統設備與架構 13
2.1 實驗系統架構 13
2.2 氣壓肌肉致動系統 15
2.3 路面模擬系統 21
2.4 嵌入式控制系統 23
第三章 氣壓肌肉主動式懸吊系統數學模型 25
3.1 氣壓肌肉致動器 25
3.2 氣壓肌肉致動系統數學模型 28
3.3 四分之一車氣壓肌肉主動式車輛懸吊之數學模型 30
第四章 控制器設計 32
4.1 模糊邏輯控制 32
4.1.1 第一型模糊邏輯系統 33
4.1.2 第二型模糊邏輯系統 35
4.1.3 區間第二型模糊邏輯系統 36
4.1.4 區間第二型模糊邏輯系統 40
4.2模糊滑動模式控制 41
4.2.1 區間第二型模糊滑動模式控制 42
4.2.2 歸屬函數的建立 43
4.3 加強型區間第二型模糊滑動模式控制 44
第五章 實驗成果 45
5.1 氣壓肌肉致動系統定位控制實驗 45
5.2 四分之一車氣壓肌肉主動式懸吊系統實驗 49
5.2.1 路面模擬 49
5.2.2 動態車體位置控制實驗 55
第六章 結論與未來展望 64
6.1 結論 64
6.2 未來展望 65
參考文獻 66

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