臺灣博碩士論文加值系統

本研究旨在建立智慧型車輛防側滾系統模糊控制之硬體迴路研究，建立智慧型車輛防側滾系統模糊控制模擬系統。 針對不同道路行駛狀況，分析車輛防翻覆性能及車身重心隨車速變化時之側滾率加以評估比較。 為要達成智慧型車輛防側滾穩定性之車體穩態控制目的，本研究亦將不同之控制系統與模糊控制系統結果加以比較驗證。
本論文以物件導向模擬軟體，致力分析車輛操控運動變化，建構出智慧型車輛防側滾系統模擬和模糊控制模組，包括轉向操控穩定控制、側滾模型與模糊控制模型等。 進行智慧型車輛防側滾系統模糊控制並隨車速改變控制參數與控制策略規劃，分析比較及驗證動態響應。研究智慧型車輛防側滾重心高度改變與承載系統作動力與車體穩定控制動態之關係。 利用建立之車輛動態系統模型，觀察不同車速設定和路徑下，車身重心高度變化之車輛運動，分析控制側滾參數下對側滾速度之影響。 根據車輛行駛狀況並配合模糊控制器進行計算，可使智慧型防側滾車輛更精確地修正重心位置，以更安全之模式達到穩定操控行駛之設計要求。本研究可迅速評估分析車輛防側滾穩定性系統所需之性能，對於國內相關產業如機械、車輛、電腦資訊、控制、通訊等開啟另一項商機，並可提升國內主動式車輛防側滾系穩定性系統與車體穩定控制自主研發設計能力，同時協助相關研發工程師改善和縮短研發試誤之時間，提升國內車輛及相關產業進入先進科技技術的行列。

The objective for this study is to establish an intelligent vehicle anti-roll fuzzy control system in the Hardware-in-Loop (HIL) environment. Different vehicle operating conditions were simulated to compare the vehicle anti-roll performance and effects of body center of gravity height and suspension active force variation with the vehicle speed to the roll rate were assessed. In order to achieve steady-state anti-roll stability of the body control purposes, different control systems were used to compare and validate with fuzzy control system output performance.
In this study, object-oriented models and fuzzy control module were established to simulate the intelligent vehicle roll motion. Simulation includes the steering control and stability control, braking force distribution control, tire dynamic model, roll model and fuzzy control models. Different speeds and operating conditions were simulated to calculate the roll angles and its rate of intelligent vehicle anti-roll system to analysis the effects of control and design parameters. Anti-roll performance and control strategic planning of the fuzzy controller were validated and compared with previous PI controller results.
Intelligent vehicle center of gravity and suspension active force control calculated from the fuzzy controller varied with different speed and steering input conditions which changes in according to path movement, can thus be more accurately corrected to ensure vehicle roll stability to meet the design requirements for driving conditions. The analysis method used in this study can quickly assess the anti-roll stability system of vehicles which are required for the performance evaluation in domestic production vehicles business. This study also enhances R&D capabilities of the domestic vehicles and technology in the active vehicle anti-roll stability system and body stability control system, which helps related engineers to improve performance and shorten the development time for domestic related industries to enter the ranks of advanced technology.

中文摘要.................................iii
ABSTRACT.................................v
誌謝.................................... vii
目錄.................................... viii
圖目錄...................................xi
表目錄...................................xvi
符號說明.................................xvii
第一章 緒論..............................1
1.1 前言..................................1
1.2 文獻回顧..............................2
1.2.1 智慧型車輛穩定控制...................2
1.2.2 車輛側向控制與差動式煞車控制..........4
1.2.3 智慧型車輛防側滾控制系統.............6
1.2.4 防側滾模糊控制系統..................10
1.3 研究動機.............................11
1.4 本文架構.............................13
第二章 研究方法.........................14
2.1 車輛側滾概要..........................14
2.1.1 車輛側滾現象........................14
2.1.2 側滾控制原理........................15
2.1.3 智慧型車輛防側滾系統控制概念......... 17
2.2 建立車輛平面運動模型.................. 20
2.2.1 車輛平面運動態模型建立.............. 21
2.3 智慧型防側滾穩定性模型建立............. 27
2.3.1 智慧型防側滾車輛模型................ 27
2.4 智慧型車輛防側滾系統模糊控制器設計...... 36
第三章 智慧型車輛防側滾系統模糊控制系統設計..41
3.1 參數訂定.............................41
3.1.1 智慧型車輛運動模型與CarSimR車輛模擬軟體參數訂定................41
3.2 模糊邏輯控制參數之不同歸屬函數輸入與規則庫訂定................... 45
3.3 智慧型防側滾車輛硬體控制模型................................... 65
3.3.1 智慧型車輛硬體模型......................................... 65
第四章 結果與討論 ................................................71
4.1 智慧型防側滾車輛 DLC路徑測試................................... 71
4.1.1 智慧型防側滾車輛DLC定車速測試................................ 71
4.1.2 智慧型防側滾車輛DLC不同加速度測試............................79
4.2 智慧型防側滾車輛Sine Wave路徑測試..............................82
4.2.1 智慧型防側滾車輛定車速Sine Wave測試.......................... 82
4.2.2 智慧型防側滾車輛Sine Wave不同加速度測試.......................89
4.3 模組輸出之側滾角ITAE驗證......................................92
第五章 結論與建議................................................ 99
5.1 結論 ........................................................99
5.2 建議事項與未來研究項目........................................101
參考文獻........................................................102

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