臺灣博碩士論文加值系統

本文針對不具轉向系統的獨立四輪驅動車，設計滑移轉向(skid steering)的控制策略。由於滑移轉向具有高度的非線性以及模型不確定性，因此本文採用不需要模型為基礎的
架構進行側向動態的控制。首先將轉向角命令與車速透過以自行車模型為基礎的橫擺率增益值（yaw rate gain）得到偏航角速度命令，接著利用適應性模糊滑動模式控制結合前
饋控制做為上層控制器，透過左右輪速差來進行偏航角速度控制，再將左右輪速差命令與車速命令結合，以得到左、右輪速命令。為了有效地追隨輪速命令，本文結合馬達動態、輪胎動態與車輛縱向動態，建立一等效模型，接著設計線性平方調整法搭配積分控制的下層控制器，以追隨左、右輪速命令，使車輛可以同時滿足車速以及轉向命令。本文透過 CarSim 車輛動態分析模擬軟體進行車輛動態的模擬，結果顯示適應性模糊滑動模式控制結合前饋控制，在不同車速以及道路摩擦係數的條件下，皆能得到比前饋控制與 PI 控制結合前饋控制較小的偏航角速度誤差，使系統具有更好的控制性能與強健性。

A skid steering control strategy is proposed for a four-wheel independent driven vehicle without the steering system in this thesis. Due to large nonlinearities and model uncertainties
of the skid steering, a model-free structure is used for the lateral dynamics control. The desired yaw rate command is generated from the steering angle, vehicle speed and the yaw rate gain based on a bicycle model. The upper level controller which consists of an adaptive fuzzy sliding mode control (AFSMC) and a feedforward control generates the wheel speed difference
commands for the right and left wheels for yaw rate control. The wheel speed difference commands are combined with the vehicle speed command to obtain the wheel speed commands
for the right and left wheels. In order to track the speed command, an equivalent model which consists of the motor dynamics, tire dynamics and vehicle longitudinal dynamics is used to design the lower level controller which is a linear-quadratic regular with integral control. Thus the vehicle can satisfy the vehicle speed and steering angle commands simultaneously. CarSim is used to simulate the vehicle dynamics in this thesis. Simulation results show that the yaw rate tracking error of the adaptive fuzzy sliding model control (AFSMC) is smaller than those of the feedforward control and the PI control with feedforward control for different vehicle speeds and road frictions. Thus enhance the control performance and robustness.

摘 要 i
ABSTRACT iii
誌 謝 v
目 錄 vi
表目錄 viii
圖目錄 ix
第一章 緒論 1
1.1 研究背景與動機 1
1.2 文獻回顧 1
1.3 研究目的 2
1.4 論文架構 3
第二章 系統動態模型 4
2.1 車輛模型 4
2.2 輪組模型 5
2.3 輪組系統判別 11
第三章 控制策略 14
3.1 系統架構 14
3.2 偏航角速度控制 16
3.3 輪速控制 22
第四章 模擬結果 26
4.1不同車速模擬結果 26
4.2不同道路摩擦係數模擬結果 33
第五章 結論與未來展望 36
參考文獻 38
符號彙編 40

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