臺灣博碩士論文加值系統

在本論文中提出一種方法使車輛在未知路面行駛時，可藉由防鎖死煞車系統(ABS)達到最短煞車時間。為了達到此目的，我們導入含路面變數之動態摩擦力方程式(LuGre Model)。基於路面與滑差的關係，我們定義一個從路面變數至最佳參考滑差之映射函數，並藉由模糊類神經網路及順向類神經網路來學習。滑差控制器被設計來使車輛的滑差追踪最佳參考滑差值以達到最短煞車時間的目的。另一方面，我們同時考慮輪子轉速與路面狀況並且定義一三維之映射函數使得車子可隨著不同轉速及不同路面來改變滑差值以達到縮短煞車時間的目的。在控制器設計方面，我們結合模糊類神經理論與直接式適應性理論來設計防鎖死煞車系統的控制器。控制策略是利用防鎖死煞車系統控制器控制車輛的滑差並追蹤由路面估測器所估測到的不同路面的最佳滑差率。由模擬結果驗證，路面估測器結合所設計出來的防鎖死煞車控制器，對於未知的路面具有良好的估測能力，而且控制器也具有良好的追蹤能力。

This paper proposes an antilock braking system (ABS), in which unknown road characteristics are resolved by a road estimator. This estimator is based on the LuGre friction model with a road condition parameter, and can transmit a reference slip ratio to a slip ratio controller through a mapping function. A feedforward neural networks using back-propagation learning algorithm is used to identify the mapping function from road characteristics to reference slip ratios. Besides, we further adopt a wheel velocity and the road condition parameter to be the inputs of three dimension mapping function to reduce braking time. The slip ratio controller is used to maintain the slip ratio of the wheel at the reference values for various road surfaces. In the controller design, an observer-based direct adaptive fuzzy-neural controller (DAFC) for an ABS is developed to on-line tune the weighting factors of the controller under the assumption that only the wheel slip ratio is available. Finally, this paper gives simulation results to provide good effectiveness under varying road conditions.

中文摘要……………………………………………………………………….. i
英文摘要……………………………………………………………………….. ii
誌謝 ……………………………………………………………………….. iii
目錄 ……………………………………………………………………….. iv
表目錄 ….………………………………………………………………….… vi
圖目錄 ………………………………………………………………………… vii
第一章 緒論......………………………………………………………………… 1
1.1研究背景……………………………………………………………….. 1
1.2文獻回顧……………………………………………………………….. 2
1.3研究方法與本文架構………………………………………………….. 2
第二章 防鎖死煞車系統之數學模式建立…………………………………….. 4
2.1摩擦力模型…………………………………………………………….. 4
2.2 摩擦力與滑差的關係…………………………………………………. 6
2.3影響摩擦力的各種因素……………………………………………….. 8
2.3.1不同路面對摩擦力的影響………………………………………. 8
2.3.2不同煞車的輪胎轉速對摩擦力的影響…………………………. 9
2.3.3不同側滑角對抓地力的影響……………………………………. 9
2.4單輪車體之動態等效模型…………………………………………….. 11
2.5液壓系統之動態等效模型…………………………………………….. 13
2.6 設計二階動態滑差的數學模式………………….………………….... 15
第三章 路面估測器設計……………………………………………………….. 16
3.1動態摩擦力模型(LuGre Friction Model)…………...…………………. 16
3.2估測器設計…………………………………………………………….. 18
3.3估測器的應用………………………………………………………..… 22
第四章 直接適應性模糊類神經控制器設計………………………………….. 25
4.1基於估測器之直接適應性模糊類神經控制器……………………….. 25
4.1.1適應性模糊控制…………………………………………………. 25
4.1.2模糊類神經網路…………………………………………………. 26
4.2防鎖死煞車系統控制器設計………………………………………….. 27
第五章 基於不同路面狀況之ABS控制系統設計 ………………………….. 35
5.1系統分析……………………………………………………………….. 35
5.2使用模糊類神經網路學習法則得到最佳的滑差 …………………… 36
5.2.1最佳參考滑差設計 ………………………………………………. 36
5.2.2 模糊類神經……………………………………………………….. 39
5.2.3 模擬與討論……………………………………………………….. 40
第六章 基於不同轉速及不同路面之最佳滑差設計………………………....... 52
6.1 由轉速來到最佳的滑差值…………………………………………….. 52
6.2 使用到傳遞學習法得到最佳的滑差………………………………….. 53
6.3 模擬與討論…………………………………………………………….. 56
6.4 考慮不同煞車方法的比較 …………………………………………… 67
第七章 結論與未來展望 ………………………………………………………. 68
參考文獻 ………………………………………………………………………... 69

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