臺灣博碩士論文加值系統

本文針對機車配置電液壓煞車模組的防鎖死煞車系統進行研究，首先考慮輪胎滾動半徑的變化和加速規量測產生的偏移量對系統的影響設計適應性參數估測器，透過輪角加速度估測器取得輪角加速度，以及車速估測器配合輪速資訊取得滑差。接著針對路面的狀況進行路面識別，除了依據路面可提供之車輛減速度識別最佳的滑差目標值外，並由預估之車輪鎖死時間和車輛煞停時間估測當下最佳的輪角加速度目標值。本文採用多輸入單輸出之模糊控制器，同時針對輪角加速度和滑差進行追隨控制，並考量電磁閥的延遲時間設計液壓模組模式切換的策略，再將控制器的連續訊號轉換成開關電磁閥的增壓、持壓、洩壓狀態。模擬驗證採用機車動態模擬軟體BikeSim，除了建立不同的測試場景外，並模擬量測訊號受到解析度和加速規量測偏移量的影響。由模擬結果顯示，本文提出之控制架構可避免車輪鎖死的現象，且有效地縮短煞車距離。接著利用實體電液壓煞車模組進行硬體在迴路實驗，實驗結果確認本文提出之控制架構可有效縮短煞車距離，提升制動性能。

Anti-lock braking system for motorcycle with electrohydraulic brake module (EHB) is studied in this thesis. First, an adaptive parameter estimator is designed to deal with the uncertainty of rolling radius and accelerometer offset. An estimator is designed to obtain the angular acceleration estimation of the wheel. Longitudinal slip ratio is calculated using the estimated vehicle speed and measured wheel speed. Road condition estimator is used to obtain the target slip ratio according to the vehicle acceleration, and the target wheel angular acceleration according to the estimation of time-to-lockup and time-to-stop. A multi-input single-output fuzzy controller is established to track the target wheel angular acceleration and target slip ratio at the same time. A mode switching strategy is designed for the EHB with the consideration of the time delay of solenoid valve. Continuous control signals are then translated into three modes of pressure apply, pressure hold, and pressure release. BikeSim is used to simulate the vehicle dynamics for different road scenarios with accelerometer offset and measurement quantization. Simulation results show that the proposed strategy can prevent wheel lockup and reduce the braking distance effectively. An EHB is used for the Hardware-in-the-loop experiment. Experiment results confirm that the proposed strategy can reduce the braking distance and enhance braking performance effectively.

摘 要 i
ABSTRACT ii
誌 謝 iv
目 錄 v
表目錄 vi
圖目錄 vii
第一章 緒論 1
1.1 研究背景與動機 1
1.2 文獻回顧 2
1.3 研究目的 5
1.4論文架構 6
第二章 電液壓煞車系統模型 7
2.1 系統模型建立 7
2.2 系統參數識別 12
第三章 ABS控制策略 17
3.1 估測器設計 18
3.2 控制器設計 31
第四章 模擬結果 37
4.1 平地ABS測試結果 39
4.2 斜坡ABS控制結果 49
第五章 實驗平台設計與結果 55
5.1 實驗平台建立 55
5.2 硬體在迴路實驗結果 60
第六章 結論與未來展望 65
參考文獻 67
符號彙整 70

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