臺灣博碩士論文加值系統

為了改善車輛乘座舒適性和操控性，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，故本研究將設計一組四分之一主動式懸吊系統並建立於我們實驗室作為實驗機台，應用PID 控制器、模糊控制器得到實際性能。實驗結果將幫助我們發展一個實用的主動式懸吊系統控制法則並探討各控制器間對於車輛的操控安全性及乘坐舒適性之改善情形。
經由這個實驗設備的幫助，本論文的目的為試著設計以FPGA (Field Programmable Gate Array，場效可程式邏輯閘陣列)為基礎的PID控制器來控制主動式懸吊系統，由實驗結果得知車體震動量和加速度可清楚的看出以FPGA為基礎的PID控制器能夠得到很好的乘坐舒適性，另外對操控性也有很好的改善這個可以從輪胎的量測觀察得知。

Recently, many active suspension strategies have been proposed to improve the riding comfort and driving quality of a car. Without practical experimentation, these approaches are mostly based on computer simulation. In this work, an experimental setup representing a quarter-car suspension system is designed and built in our lab to which a PID controller and a fuzzy controller are applied for practical performance evaluation. The experimental results do help develop a practical active suspension control scheme to effectively improve both driving and riding qualities.
With the aid of this experimental setup, the purpose of this thesis is trying to design an FPGA-based PID controller for active suspension system control. The experimental results on the car body vibration and acceleration clearly indicates the proposed FPGA-based PID controller seems to be to achieve good riding comfort. In addition, the driving quality is significantly improved as well; this can be observed from the measurement of the tire deflection magnitude.

中文摘要 I
英文摘要 II
誌謝 III
目錄 IV
圖目錄 VI
表目錄 IX

第一章 緒論 1
1.1 前言 1
1.2懸吊系統的分類及各組成元件與作用原理介紹 3
1.3主動式與半主動式懸吊系統之比較 7
1.4文獻回顧 7
1.5論文架構 9
第二章 主動式懸吊系統架構描述與數學模式介紹 10
2.1四分之一車輛主動式懸吊系統介紹 10
2.1.1系統架構描述 11
2.1.2懸吊機構部份 13
2.1.3電控系統 14
2.2油壓伺服位置控制系統 16
2.3懸吊系統運動方程式 19
2.4懸吊系統的頻率響應分析 20
2.5懸吊系統介面電路使用與設計 25
2.6懸吊系統各種感測器信號處理與量測 26
第三章 控制器介紹 28
3.1簡介 28
3.1.1 控制器設計流程 29
3.2 PID控制器介紹 31
3.3模糊控制理論 33
3.3.1模糊控制器的基本架構 35
3.4模糊PID控制器 37
3.4.1 模糊PID控制器的設計程序 38
第四章 FPGA發展系統介紹與應用 42
4.1數位電路簡介 42
4.2 使用FPGA之優點 43
4.3 FPGA發展系統介紹 44
4.4設計流程與硬體應用 45
4.4.1系統模擬與實驗 47
第五章 模擬與實測結果 52
5.1簡介 52
5.2系統參數設定 53
5.3四分之一車主動式懸吊系統模擬 54
5.3.1 PID控制 56
5.3.2模糊PID控制 62
5.4四分之一主動式懸吊系統實際操作 69
5.4.1 Pc-Base方法 69
5.4.2 FPGA-Based方法 77
第六章 結論與未來研究方向 84
6.1結論 84
6.2未來研究方向 85
參考文獻 86
附錄 90
作者簡介 92

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