臺灣博碩士論文加值系統

本研究首先以小型車常用之雙A臂式懸吊系統為基礎下，建立四分之ㄧ車懸吊數學模型，利用向量迴路分析輪胎上下跳動時懸吊系統與輪胎轉角的變化情形；並且利用Adams/Car中的懸吊模型驗證其向量迴路方程式的正確性。其次，在懸吊桿件與車身連結處加入滑塊，並藉由四分之ㄧ車向量迴路方程式找出滑塊移動時，輪胎轉角最敏感的滑軸角度，作為設定滑塊滑動方向的依據，然後依前述所建議的滑軸角度建構Adams/Car可變幾何懸吊模型系統。
本文也經由懸吊模擬方式取得可變幾何懸吊模組的側傾特性，其中包含側傾中心高度變化與輪胎前束等參數變化趨勢，作為模糊控制器中的專家經驗取得方式，並依照此懸吊特性設計一組可隨車輛行駛狀況，調整懸吊幾何接點之可變幾何懸吊模糊控制器，且結合Adams/Car與Matlab/Simulink兩套軟體進行整車動態控制與分析；同時也導入主動式懸吊系統，評估兩者控制方式的差異性與耗能分析。最後，模擬結果得知可變幾何懸吊系統可有效減少車身之側傾現象，並且具有較低耗能之優勢。

In this paper, the enhancement of vehicle handling characteristics using variable geometry suspension is investigated. The variable roll center suspension concept in a double wishbone suspension is proposed. In order to achieve the controllable of roll center, a slider block is installed between upper control arm of suspension and vehicle body. Then, this paper also analyzes how suspension linkage geometry affects the toe angle by using closure equation. Thus, the most sensitive of toe angle is found. Therefore, in order to evaluate the handling performance, a full car model with variable geometry suspension is constructed using multi-body dynamic analysis software Adams. In addition, we use the fuzzy control to implement human’s heuristic knowledge and define the control input as the motion of the slider. Finally, we also combine the software “Adams/Car” and “Matlab/Simulink” with the fuzzy controller for the full-vehicle model analysis. The control input for fuzzy control of front suspension is the motion of the slider. Moreover, this paper also compares the power consumption between variable geometry suspension system and active suspension systems for roll control strategies. The result shows that the roll angle of vehicle attitude can be improved by using novel variable geometry suspension and active suspension control. Also the simulation demonstrates that the variable geometry principle will deliver cost effective performance in the future.

中文摘要 i
英文摘要 ii
目 錄 v
表目錄 vii
圖目錄 viii
第一章 緒論 1
1.1 前言 1
1.2 文獻回顧 2
1.3 研究動機與方法 5
1.4 本文架構 5
第二章 懸吊幾何概述 7
2.1 車輛運動型態定義 7
2.2 側傾中心 8
2.3 輪胎定位角概述 10
2.3.1 外傾角的定義與功用 10
2.3.2 前束定義與功用 11
第三章 數學模型 13
3.1 三自由度車輛側傾運動學模型 13
3.2 主動式懸吊側傾數學模型 16
3.3 可變幾何數學模型 17
3.3.1 可變幾何概論 18
3.3.2 四分之一車向量迴路(前視圖) 19
3.3.3 四分之一車懸吊參考座標制定 21
3.3.4 四分之一車迴路方程式(上視圖) 26
3.3.5 可變幾何懸吊上接點滑動(上視圖) 29
第四章 可變幾何懸吊控制器設計 32
4.1 可變幾何懸吊控制策略 32
4.1.1. 雙A臂式懸吊系統特性分析 33
4.1.2. 可變幾何懸吊特性 36
4.1.3. 主動式懸吊之車身姿態控制 36
4.2 模糊控制 37
4.2.1. 模糊控制器架構 38
4.2.2. 模糊控制設計 38
第五章 模擬結果與討論 44
5.1 Adams/Car模型建構 44
5.1.1 可變幾何懸吊系統之Adams/Car模型 44
5.1.2 主動式懸吊系統之Adams/Car模型 46
5.2 Adams/Car參數 46
5.2.1 車身整體參數 47
5.2.2 懸吊系統參數 49
5.2.3 輪胎模型參數 50
5.3 Adams模擬結果與分析 52
5.3.1 步階轉向模擬分析 54
5.3.2 等半徑加速模擬分析 58
第六章 結論與未來展望 63
6.1 結論 63
6.2 未來展望 64
參考文獻 66
符號彙編 68

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