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研究生:陳昱達
研究生(外文):Yu-Ta Chen
論文名稱:後輪轉向對車輛穩態轉向行為之影響分析
論文名稱(外文):Effect of Rear Wheel Steering on Steady Turning Behavior of Four-wheel Vehicles
指導教授:劉霆劉霆引用關係
指導教授(外文):Tyng Liu
學位類別:碩士
校院名稱:國立臺灣大學
系所名稱:機械工程學研究所
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:2007
畢業學年度:95
語文別:中文
論文頁數:129
中文關鍵詞:穩態轉向側滑角正向負載轉移後輪轉向數值分析
外文關鍵詞:Steady turning behaviorslip angleload transferrear wheel steeringnumerical method
相關次數:
  • 被引用被引用:8
  • 點閱點閱:282
  • 評分評分:
  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:0
  本研究主要探討後輪轉向對於車輛穩態轉向行為的影響。首先以運動學與牛頓力學理論為基礎,建立幾何關係式和力平衡方程式,發展四輪轉向車輛模型,完整考慮四輪獨立的側滑角度、正向負載轉移,及使用接近真實輪胎性質的Magic Formula輪胎模型。由於方程式相當複雜,難以求得解析解,本研究採用數值分析方法,並配合全域搜尋求得數值解,可求得在不同轉向角及車速下,各輪的側滑角、正向力、轉向力及全車穩態之性質。利用此模型針對單後輪轉向與雙後輪同步轉向兩種模式,分析後輪轉向對於車輛穩態轉向行為的影響。最後提出操控後輪轉向以調整車輛轉向特性的方法,並以四輪的側滑現象來評估比較各種後輪操控的方式。利用本研究所發展的模型與分析方法,可以對四輪的側滑現象、正向負載轉移、轉向力分配與後輪轉向對車輛行為的影響,均可以有更完整的了解。
  This study mainly focuses on the effect of the rear wheel steering on the steady state behavior of the vehicle. First, a four-wheel independent steering vehicle model is developed, and the motion equations based on the geometry and force equilibrium of the vehicle are derived for the steady state analysis. This model has included four independent steering angles and slip angles, load transfer, and the Magic Formula for the tire. Then, using this model, numerical analysis can be performed. The effect of the rear wheel steering in three various operating conditions are investigated. By using the mathematical model and numerical method established in this study, slip angle and cornering force of each tire, the effect of load transfer and the rear wheel steering on the behavior of the vehicle can be thoroughly realized. Finally this study proposes a method to adjust the handling characteristics by rear wheel steering.
致謝 i
中文摘要 ii
英文摘要. iii
目錄 iv
圖目錄 vii
表目錄 xii
符號定義 xiv
第一章 緒論 1
1-1前言 1
1-2文獻回顧 2
1-3研究目的 5
1-4研究方法與步驟 6
第二章 理論基礎 8
2-1車輛座標系之定義 8
2-2輪胎模型 9
2-2-1輪胎座標系定義 9
2-2-2輪胎所受的力與力矩 10
2-2-3轉向力與側滑角 11
2-2-4側傾力與外傾角 14
2-3阿克曼轉向幾何 15
2-4自行車轉向模型 16
2-4-1穩態自行車轉向模型 17
2-4-2穩態轉向之三種特性 20
第三章 四輪轉向車輛模型 23
3-1基本假設 23
3-2輪胎模型 24
3-2-1 MF輪胎模型 24
3-2-2 MF輪胎模型係數 26
3-3四輪轉向車輛之運動模型 29
3-4幾何關係式 30
3-5穩態力平衡方程式 33
3-6參數與變數 37
第四章 數值分析方法 39
4-1求解方法說明 39
4-2數值分析方法之建立 40
4-3前輪理想阿克曼轉向角之分析流程 42
4-4模擬結果 45
第五章 後輪轉向對穩態轉向行為之影響 77
5-1後輪轉向模式設定 77
5-2後輪轉向 80
5-2-1低速行駛 80
5-2-2高速行駛 90
5-3穩態轉向特性的變化 102
5-4討論與小結 121
第六章 結論與建議 124
6-1結論 124
6-2未來展望 126
參考文獻 127
附錄:數值分析程式及說明 130
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[19]Ossama Mokhiamar, Masato Abe, ”Simultaneous Optimal Distribution of Lateral and Longitudinal Tire Forces for the Model Following Control”, Journal of Dynamic Systems, Measurement, and Control, Vol. 126, Issue 4, 2004.
[20]Magomed Gabibulayev, Bahram Ravani, “A Stochastic Form of a Human Driver Steering Dynamics Model”, Journal of Dynamic Systems, Measurement, and Control, Vol. 129, Issue 3, 2007.
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[22]Koumboulis, F.N. , Skarpetis, M.G. ,“Robust control of cars with front and rear wheel steering” IEEE Proceedings Control Theory and Applications, v 149, n 5, September, 2002.
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