本文之目的在研究多軸轉向聯結車轉向控制器，針對車輛於載重變化、高低速轉彎及其他參數變化下，對車輛穩定性之影響進行分析。採用的全聯結車為曳引車及拖曳車皆具可轉向之前輪軸，與傳統全聯結車轉向方法不同。依四輪可轉向轎車研究結果，首先推導多軸轉向全聯結車數學模式，接著進行最佳控制法則的推導；當前述控制因素改變或參數發生變動時，藉由訓練類神經網路使得控制器參數在強健穩定範圍調整，確保車輛控制器之強健穩定性，並結合反應曲面法求控制器參數最佳解。最後利用MATLAB軟體進行模擬分析，研究結果顯示，此自調強健控制器可在短時間內縮減因變數所造成的誤差，且調整至符合系統規範要求。將此控制器與最佳控制法則控制簡化的系統比較後，系統偏差率從9.7589到8.7375，有效改善10.5%。

The purpose of this content was studying The controller of a multi-axle-steering tractor and trailer that analyzed effects of a vehicle’s roadability which aimed the vehicle’s changes at loading, high and low speedy turning and other parameters. The tractor-full trailer adopted was formed by a tractor and a trailer what both had the front axles that were able to make turning different form the way of traditional tractor-full trailer. According to the consequence of investigating a four-wheel-turning compact, deriving firstly the multi-axle-steering model, and then proceeding the derivation of the optimal control method which used the trained artificial neural network to make the parameter of the controller adjust within the range of the robust stability for assuring the robust stability of a vehicle’s controller and combining the response surface methodology to request the best solution of the controller when the control factors or parameters stated above changed. At last, applying MATLAB software to proceed simulation analysis. The initial studying result showed that the automatic adjusted robust controller could shorten in short time the error caused by variables, and it adjusted to qualify the request from the system. Comparing this controller with the system of simplified control of the optimal control method, the error of the system became 8.7375 from 9.7589, it improved 10.5%.

摘要 I
Abstract II
謝誌 III
目錄 IV
表目錄 VII
圖目錄 VIII
符號索引 X
第1章 緒論 1
1.1研究動機與目的 1
1.2文獻回顧 2
1.3論文結構 7
第2章 聯結車數學模式 9
2.1系統數學模式推導 9
2.2輪胎側向力分析 11
2.3簡化系統模式 13
2.4最佳控制法則推導 18
第3章 控制器設計 21
3.1前言 21
3.2 -次佳 控制器 22
3.2.1 -次佳 控制設計 22
3.2.2性能指標 25
3.2.3強健穩定 25
3.3類神經網路 26
3.3.1倒傳遞類神經網路模式 27
3.4反應曲面法 29
3.4.1數學模式 31
3.4.2搜尋過程 32
3.4.3反應曲面法的優點 33
第4章 結合類神經網路與反應曲面法的設計 35
4.1前言 35
4.2系統模型架構 35
4.3強健穩定邊界設計 37
4.4反應曲面設計 37
4.4.1設計步驟 38
4.4.2三水準因子設計 40
4.4.3選用控制因子 40
4.4.4結果分析 41
第5章 模擬結果與比較 44
5.1模擬方法 44
5.2頻域響應分析 46
5.3時域響應分析 53
第6章 結果討論與未來展望 55
6.1結果討論 55
6.2聯結車的結果討論 55
6.3未來展望 56
參考文獻 57
附錄 曳引車與拖曳車參數 61
作者簡介 63

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