臺灣博碩士論文加值系統

車輛主動懸架系統的主要功能是支撐車身，並隔絕路面顛簸對車身的影響，以達到乘坐舒適的目的。此外，其另一重要功能保持輪胎能持續接觸地面，並盡量維持穩定的輪胎力，以減少輪胎位移的變化，進而改善車輛的操控性。本論文發展出一套針對車輛主動懸架系統設計的控制方法，其中提出了包括力量消除、天勾阻尼、虛擬輪胎阻尼、及路面跟隨彈簧的概念，以獲取較佳的乘坐舒適度及操控性，並以遺傳演算法與模糊控制整合上述概念應用於四分之一車及二分之一車模型。此外，本文亦提出一有別於傳統的工作行程評價函數，以最大絕對值取代傳統的積分形式，用以計算懸架系統的行程限制，使之能有效利用懸架系統的工作行程。應用遺傳演算法可有效搜尋較佳之控制參數，但在系統模型為非線性的情況下，遺傳演算法所求得的狀態迴授常數增益，不容易滿足所有的非線性限制，因而應用模糊控制則可有效處理系統之非線性行為，諸如：輪胎之非線性彈性特徵、輪胎之變形限制、及懸架系統之行程限制等。本文以電腦模擬來展示所提出方法的可行性，由模擬結果可看出應用上述設計概念所發展出的控制方法，能在不超過懸架系統的行程限制下，大幅改善乘坐的舒適度及車輛的操控性。

Control algorithms are developed for force control in an active vehicle suspension design using genetic algorithms with both quarter car and half car models. The main function of active suspension is to support the vehicle body and isolates the road unevenness to provide ride comfort. Besides, the other important objective is to maintain the contact between tire and road and to minimize the variation of tire deflection for handling control. In this study, force cancellation, virtual damper, skyhook damper, and road-following concepts are proposed to design the force controller for achieving better ride and handling quality. Furthermore, a new approach incorporates the constraints of maximum suspension strokes in the objective function to evaluate the compactness of the suspension working space, as opposed to the traditional integral quadratic form of suspension displacement. Genetic algorithms are employed to obtain a more effective search for optimum control parameters. In addition, a nonlinear model is introduced and a fuzzy control scheme is proposed to deal with the nonlinear tire characteristic, tire deflection limits, and suspension stroke limitations. Computer simulations are performed to verify the proposed control scheme. It is shown both ride comfort and handling quality are greatly improved without exceeding the suspension stroke constraints.

中文摘要 i
Abstract ii
誌　　謝 iii
目　　錄 iv
List of Figure Captions vi
List of Tables viii
Chapter 1 Introduction 1
1.1 Background and Motivation 1
1.2 Literature Survey 3
1.3 Organizations of this Thesis 11
Chapter 2 A Quarter Car Model 12
2.1 System Description 12
2.2 Design Concepts of Force Control 13
2.2.1 Force Cancellation Control 14
2.2.2 Skyhook Damper and Road-Following Spring 14
2.2.3 Virtual Tire Damper Concept 15
2.2.4 Whole Control Configuration 16
2.2.5 Stability Analysis 17
2.3 Parameters Searching Using Genetic Algorithms 19
2.3.1 Brief Review of Genetic algorithms 19
2.3.2 Design Procedure 20
2.4 Results and Discussion 22
Chapter 3 A Half Car Model 35
3.1 System Description 35
3.2 Controller Design by Using Genetic Algorithms 37
3.2.1 Introduction 37
3.2.2 Design Criteria 38
3.2.3 Design Procedure 38
3.3 Results and Discussion 42
3.4 Maximum Stroke Constraints Design 44
3.4.1 Reasons for Using Maximum Stroke Constraints 44
3.4.2 Evaluation Functions 45
3.4.3 GAs Calculation for Parameters Searching 47
3.4.4 Simulation Results 48
3.4.5 Discussions and Conclusions 50
Chapter 4 Nonlinear Model and Controller Design 63
4.1 Introduction 63
4.2 Tire Nonlinearity Description 64
4.3 Fuzzy Controller Design 64
4.3.1 Definition of Membership Functions 65
4.3.2 Fuzzy Rules Description 66
4.4 Results and Discussions 69
Chapter 5 Conclusions and Future Works 81
5.1 Conclusions 81
5.2 Future Works 81
References 83

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