臺灣博碩士論文加值系統

隨著機車產業不斷發展，其高速行駛時安全性問題也越來受到重視。機車若加裝防鎖死煞車系統(ABS)可自動調整煞車力的大小，防止車輪鎖死，得到最好的煞車效果，並能確保操縱穩定性。ABS實際由電液煞車組(EHB)來控制煞車力，而EHB內部的控制閥，本文改採用比例壓力控制閥，有別於一般使用電磁閥，目的為進行精準煞車力控制及避免管路油壓震盪情形。
首先，本文開發用於汽、機車液壓煞車作動器之比例壓力控制閥，完成比例閥比例電磁鐵之電磁作用力分析與模擬，以及實測驗證比例電磁鐵推力與搭配比例閥單體之洩壓性能。基於高控制性和易製性考量，設計出小體積大推力之比例電磁鐵，作為比例閥壓力與流量控制之驅動源。
本文採用MATLAB/Simulink軟體建立完整的機車ABS模擬模型，其中包括比例電液煞車組(PEHB)模型、機車運動模型、輪胎模式及Bang-Bang、PID與模糊滑動等控制器模型。從模擬結果顯示此致動器具有穩定調整洩壓控制功能，且控制線性度與重複性佳，故可應用於ABS進行滑差控制。從完整的機車ABS模擬模型中，進行EHB與PEHB在不同路面煞車時車速、輪速、滑差及煞車力模擬與分析，經模擬結果顯示，PEHB進行滑差控制時可更穩定、迅速及精準達到目標值，並有效縮短煞車距離。
最後，進行機車PEHB系統開路及硬體迴路測試，開路測試命令主要以步階、三角波及弦波命令為主，確認反應時間、線性度與跟隨狀態；硬體迴路測試時，PEHB硬體採用PID(Bang-Bang)及模糊滑動控制器進行滑差迴授測試。研究結果顯示比例壓力控制閥可作為煞車系統煞車力控制閥，以協助ABS進行更精準滑差控制，滿足機車行駛安全之目的。

In the motorcycle industry, the safety of motorcycles operating at high speeds has drawn increasing attention. If a motorcycle is equipped with an anti-lock braking system (ABS), it can automatically adjust the brake force to prevent the wheels from locking for achieving optimal braking effect and ensuring operation stability. In an ABS, the brake force is controlled by an electro-hydraulic brake (EHB). The control valve of EHB was fitted with a proportional pressure valve in this study, which differed from the general use of a solenoid valve in order to precisely control the brake force and prevent hydraulic pressure oscillation in the pipes.
This research developed a novel proportional pressure control valve of hydraulic braking actuators for an automobile and a motorcycle. The simulation analysis of solenoid driving force of the pressure control valves is implemented, and the pressure relief capability test of electromagnetic thrust with the proportional valve body is verified. Considering the high controllability and ease of production, the solenooid of this proportional valve was designed with a small volume and higher driving force to adjust the braking pressure and flow.
Next, this study used MATLAB/Simulink to develop the overall motorcycle ABS simulation model, including a proportional electro-hydraulic brake (PEHB), motorcycle motion, tire, and controller models of bang-bang, PID, and fuzzy sliding-mode. The simulation results showed that this actuator had achieved a stable adjustment of depressurization control as well as satisfactory linear precision and repeatability. Therefore, it can be applied to the ABS for slip control. Additionally, an overall motorcycle ABS simulation model was established and perfomed for simulation and analyse of the wheel speed, slip, and brake force of the EHB and PEHB on different road surfaces during braking. According to the simulation results, it was demonstrated that the PEHB canreach more satisfactory stability and response during braking for slip control and effectively reduce braking distance.
Finally, the open-loop and Hardware in the Loop (HIL) testing of the PEHB system of motorcycle were performed. The open-loop test commands confirmed the response time, tracking performance and linearity. Subsequently, In the HIL testing, PID (Bang-Bang) and fuzzy sliding-mode controller were used for slip control test in PEHB. The test results demonstrated that the proportional pressure control valve can perform wellin EHB systemto make the ABS achieve more precise slip control and improve motorcycle safety.

口試委員會審定書 I
誌 謝 II
中文摘要 III
ABSTRACT IV
目 錄 VI
圖 目 錄 X
表 目 錄 XV
符號說明 XVI
第一章 緒論 1
1.1 前言 1
1.2 車輛ABS研究發展與趨勢 4
1.2.1 國外ABS相關研究 4
1.2.2 國內ABS相關研究 5
1.2.3 汽車ABS發展現狀與趨勢 6
1.2.4 機車ABS發展現狀與趨勢 8
1.3 研究動機 10
1.4 研究背景與方法 11
1.4.1 煞車系統專利分析 11
1.4.2 研究方法 16
1.4.3 研製規格 16
1.5 研究內容 17
第二章 比例閥分析與模擬 18
2.1 比例閥體設計 18
2.2 比例電磁鐵構造說明 21
2.3 氣隙區磁導計算 23
2.3.1 基本原理 23
2.3.2 比例電磁鐵內氣隙磁導率 25
2.3.3 等效氣隙磁導 27
2.4 金屬區磁導計算 28
2.5 比例電磁鐵電磁力 30
2.6 磁通量及磁動勢 31
2.7 比例電磁鐵等效磁導和電磁推力模擬 32
第三章 比例閥推力設計與單體測試 34
3.1 外型參數影響性 34
3.1.1 基座凸緣 34
3.1.2 鐵芯和基座端徑 34
3.1.3 推拔角度 35
3.1.4 襯套公差 36
3.1.5 氣隙公差 37
3.1.6 外型參數設計結果 37
3.2 鐵芯推力試驗結果 37
3.3 製造與組裝 40
3.4 測試規劃 40
3.4.1 方波命令測試 42
3.4.2 三角波命令測試 43
3.5 小結 43
第四章 機車ABS數學模式與控制器理論 44
4.1 機車運動數學模式 44
4.2 輪胎煞車模式 45
4.3 輪胎與地面模式 46
4.4 比例閥組成架構 47
4.5 Bang-Bang控制器理論 50
4.6 PID控制器理論 50
4.7 模糊滑動平面控制器理論 52
4.7.1 模糊滑動平面控制器 52
4.7.2 滑動平面選取 54
4.7.3 歸屬函數建立 54
4.7.4 解模糊化法則 57
4.7.5 參數設定 58
第五章 機車ABS數學模式建立及控制器設計 59
5.1 比例煞車作動器數模建構與模擬 59
5.1.1 比例煞車作動器數模建構 59
5.1.2 比例煞車作動器數模模擬 60
5.2 機車ABS數模與控制器設計 63
5.2.1 機車ABS數模建置 63
5.2.2 PID控制的模擬模型 64
5.2.3 模糊滑動控制的模擬模型 68
5.2.4 Bang-Bang控制的模擬模型 72
5.2.5 模擬結果比較 74
第六章 ABS硬體迴路模擬 76
6.1 煞車作動器功能測試 76
6.2 硬體迴路模擬 79
6.2.1 PID控制的硬體迴路模擬 80
6.2.2 FSMC控制的硬體迴路模擬 81
第七章 結論與未來展望 84
7.1 結論 84
7.2 未來展望 84
參考文獻 86

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