# 臺灣博碩士論文加值系統

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 本文內容包括直流馬達、馬達驅動電路和微電腦控制器以及車輛方向盤機構，嘗試利用直流馬達的特性，模擬車輛在不同道路上行駛轉向，車輛方向盤上所反映的力矩變化，利用車輛動力學，我們可以藉由車輛的特徵參數及車輛行駛狀態來模擬，車輛行駛在不同的道路上，車輛方向盤應的回饋力矩變化。更可以透過更改微電腦控制器中車輛的特徵參數和車輛行駛狀態，模擬不同車輛在不同路面上轉向時車輛方向盤力矩變化。未來可發展為線控轉向系統其中的力回饋方向盤系統，以取代傳統轉向系統，透過力回饋馬達將路面狀況回授給駕駛人。
 This article content including the DC motor, the DC motor driving circuit and the microcomputer controller as well as the vehicles steering wheel organization, the attempt use DC motor's characteristic, simulates the vehicles to go on the different path changes, on the vehicles steering wheel reflected the moment variation. Using the vehicles dynamics, we may simulates because of vehicles' characteristic parameter and the vehicles drive condition, the vehicles travel on the different path, the vehicles steering wheel should respond how many moment variation.In this article, we can change microcomputer controller vehicles' characteristic parameter and vehicles drive condition, easier simulation different vehicles go the vehicles steering wheel moment variation which in different road surfaces.
 摘要 IABSTRACT II誌 謝 IIICONTENTS IVLIST OF FIGURES VIILIST OF TABLES XICHAPTER 1INTRODUCTION 11.1. MOTIVE AND OBJECTIVES 11.2. LITERATURE REVIEW 11.2.1. Faila’s model 11.2.2. Magic Formula 21.2.3. Mitschke’s model 31.2.4. UniTire model 51.2.5. The model of vehicles 61.3. STRUCTURE OF THE STEERING WHEEL 6CHAPTER 2VEHICLE STEERING SYSTEM 72.1. THE STEERING SYSTEM 72.1.1. Introduction of the Steering System 72.1.2. The steering linkages 72.2. TIRE ANGLE GEOMETRY 92.2.1. Front wheel geometry 92.2.2. Camber angle 102.2.3. Kingpin inclination angle(Lateral inclination angle) 112.2.4. Toe angle 112.2.5. Caster angle 122.2.6. Slip angle 142.2.7. Formulation of geometry 152.3. STEERING SYSTEM FORCES AND MOMENTS 172.3.1. Vertical force 182.3.2. Traction force 192.3.3. Lateral force 202.3.4. Aligning torque 202.3.5. Rolling resistance moment and Overturning moment 212.4. TORQUE FEEDBACK ON THE STEERING WHEEL 21CHAPTER 3MATH MODEL OF STEERING SYSTEM 233.1 NOMENCLATURE OF THE MATH MODEL 233.2 MECHANICAL STEERING SYSTEM 253.3 STEER-BY-WIRE SYSTEM 253.4 TORQUE OF THE EXTERNAL ENVIRONMENT 263.5 LQG CONTROLLER 28CHAPTER 4SIMULATION RESULTS 304.1 CASE 1: CIRCULAR MOTION 304.2 CASE 2: TURN A CORNER 314.3 CASE 3 : CHANGE LINE 324.4 CONCLUSION 32REFERENCE 33FIGURES 36TABLES 67
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 1 車輛線控轉向系統研究與實作 2 車輛轉向系統方向盤力回饋控制技術研究 3 力回饋方向盤於虛擬實境之發展

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