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研究生:林江蔚
研究生(外文):Chiang-Wei Lin
論文名稱:自調式適應控制於主動式車輛懸吊系統上之應用
論文名稱(外文):Application of Self-tuning Controller for an Active Vehicle Suspension System
指導教授:黃緒哲
指導教授(外文):Shiuh-Jer Huang
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:機械工程系
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2001
畢業學年度:89
語文別:中文
中文關鍵詞:車輛懸吊系統被動式控制主動式控制極點配置自調式適應控制器模糊控制器模式誤差
外文關鍵詞:vehicle suspension systempassive controlactive controlpole assignmentself-tuning adaptive controllerfuzzy controllermodel error
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為了改善車輛乘座舒適性,近年來有許多研究主動式懸吊系統之報告發表,但大都僅止於電腦模擬,缺乏實驗的論證,故本研究將以自製的1/4車作為實驗機台,並採用極點配置之自調式適應控制器實際驗證於主動式避震控制上。
由於本實驗懸吊系統所用之液壓系統具有高階非線性,實驗中亦加入高低頻之路面干擾,本文採用帶遺忘因子之遞迴式最小平方法(Recursive Least Square with Forgetting Factor method)來鑑別系統之參數。因為系統鑑別部分是以二階系統近似高階非線性的主動式懸吊系統,因此造成控制上的模式誤差(model error),適應控制中加入模糊控制器以彌補因模式誤差所造成控制性能不佳之缺點,經過實驗比較得知,此方法能夠改善前述之缺點。
在本研究之控制目標為車體位置之控制。由實驗結果得知,控制車體位置時,車體加速度亦有抑制的效果;使得以自調式適應控制器架構一個主動式控制(Active Control)能達成改善車身位移變動、乘坐舒適感之雙重要求。
Recently, many active suspension strategies have been proposed to improve the riding comfort. Most of these researches are based on computer simulation without experimental implementation. In this work, a pole assignment self-tuning adaptive controller is employed to control the active suspension system of a quarter car that is designed and built in our laboratory.
Since the hydraulic active suspension system is a high order and nonlinear dynamic system, and the road surface disturbance introduced in experiments, an on-line recursive least square with forgetting factor method is employed to identify the parameters of a time varying linear system model. The pole assignment adaptive control is designed to control this active suspension system. By using a second order system to simulate the nonlinear high order active suspension system, it will cause the modeling error problem. The fuzzy control is introduced into this adaptive control structure to compensate the drawback of system modeling error and improve the control performance. The experimental results show that this control strategy has effectively solved this active suspension problem.
The control object of this study is to achieve smooth position response of vehicle body. The experimental results show that the acceleration amplitude also has obvious improvement based on position feedback control. That means the proposed self-tuning adaptive controller can be applied to improve the position variation and comfort for vehicle active control.
摘 要…………………………………………………………………… I
Abstract…………………………………………………………………… II
誌 謝…………………………………………………………………… IV
目 錄…………………………………………………………………… V
圖表索引……………………………………………………………………VIII
第一章緒論………………………………………………………………1
1.1前言………………………………………………………………1
1.2汽車懸吊系統的分類……………………………………………2
1.3各式懸吊系統的作用原理及其組成元件………………………4
1.4主動式與半主動式懸吊系統之比較……………………………6
1.5文獻回顧…………………………………………………………6
1.6研究目的與動機…………………………………………………9
1.7論文架構…………………………………………………………10
第二章系統架構之描述與數學模式……………………………………11
2.1系統架構之描述…………………………………………………11
2.1.1 系統機構組成…………………………………………………11
2.1.2 機電整合部份…………………………………………………15
2.2數學模式…………………………………………………………17
2.2.1 車輛懸吊系統之模型…………………………………………18
2.2.2 液壓動力組件之數學模式……………………………………20
2.3功率頻譜密度函數………………………………………………26
第三章系統模式選擇及參數鑑定………………………………………30
3.1系統模式選擇……………………………………………………30
3.2參數鑑定…………………………………………………………34
第四章自調式適應控制理論……………………………………………39
4.1系統鑑定…………………………………………………………39
4.2適應控制器的設計………………………………………………39
4.3極點配置方法……………………………………………………44
4.4具模糊控制之自調式適應控制器………………………………45
4.4.1 模糊控制器的設計……………………………………………45
4.4.2 模糊適應控制器的理論與系統架構…………………………49
第五章實驗與結果………………………………………………………52
5.1系統初始條件及相關參數設定…………………………………52
5.1.1 投射運算子初始值P(0)與遺忘因子λ………………………53
5.1.2 系統鑑別………………………………………………………54
5.1.3 極點的選擇……………………………………………………60
5.2干擾輸入對適應控制(固定遺忘因子)的影響…………………63
5.3車體位置之避震控制……………………………………………73
5.3.1 固定遺忘因子之自調式適應控制器與可變遺忘因子之
自調式適應控制器之比較……………………………………74
5.3.2 可變遺忘因子之自調式適應控制器與固定遺忘因子之
模糊自調式適應控制器之比較………………………………89
5.3.3 三種控制器之比較…………………………………………102
第六章討論與建議……………………………………………………106
6.1結論……………………………………………………………106
6.2建議……………………………………………………………107
參考文獻…………………………………………………………………109
附錄 A …………………………………………………………………113
附錄 B …………………………………………………………………115
附錄 C …………………………………………………………………116
作者簡歷 …………………………………………………………………117
授權書 …………………………………………………………………118
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