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研究生:朱奕蒼
研究生(外文):Yi-Tsang Chu
論文名稱:應用路面狀況估測於防鎖死煞車系統之研發
論文名稱(外文):Research and Development of Anti-lock Brake System using Road Condition Estimation
指導教授:陳柏全陳柏全引用關係
口試委員:陳志鏗胡紹俊
口試日期:2011-07-28
學位類別:碩士
校院名稱:國立臺北科技大學
系所名稱:車輛工程系所
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:2012
畢業學年度:100
語文別:中文
論文頁數:61
中文關鍵詞:防鎖死煞車控制系統路面狀況目標滑差輪速控制
外文關鍵詞:anti-lock brake systemroad conditiontarget slip ratiowheel speed control
相關次數:
  • 被引用被引用:3
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本文應用路面狀況估測設計防鎖死煞車控制系統,首先,利用正向力估測器與煞車力估測,進行路面摩擦係數的估測。接著根據路面摩擦係數及輪胎滑差,利用路面狀況估測器,得知此路面的目標滑差。最後將目標滑差控制轉換為輪速控制,根據輪速的誤差,同時利用前饋與回饋控制,調節煞車壓力。模擬結果顯示,本文所提出的防鎖死煞車控制策略能偵測路面摩擦係數的變動,將輪胎滑差維持在穩定的區域。與傳統控制相比,除了可提升在低摩擦係數路面的煞車性能,並可有效降低煞停時間。

Road condition estimation is used to design anti-lock brake system in this paper. First, normal force estimator and braking force estimator are used to obtain the estimation of the road friction coefficient. According to the estimated road friction coefficient and tire slip ratio, road condition estimator is used to obtain the target slip ratio. The target slip ratio control is then transformed into wheel speed control. Feedforward and feedback control are used simultaneously to adjust the braking pressure according to the wheel speed error. Simulation results showed that the proposed algorithm can detect the change and road friction coefficient and maintain the slip ratio in the stable region. Comparing to the conventional slip ration control, not only the braking performance on the low friction road surface is enhanced, but also the stopping time is effectively reduced.

摘 要............................................................................................................................. i

ABSTRACT .................................................................................................................. ii

誌 謝 .............................................................................................................................iii

目錄............................................................................................................................... iv

圖目錄............................................................................................................................ v

表目錄...........................................................................................................................vii

第一章 緒論.................................................................................................................. 1

1.1 研究背景與動機............................................................................................. 1

1.2 文獻回顧......................................................................................................... 2

1.3 研究目的......................................................................................................... 4

第二章 系統動態模型.................................................................................................. 6

2.1 車輛動態模型................................................................................................. 6

2.2 油壓動態模型................................................................................................. 8

第三章 控制器設計.................................................................................................... 13

3.1 煞車模式切換策略....................................................................................... 14

3.2 目標滑差設計............................................................................................... 17

3.3 輪速控制器................................................................................................... 18

3.4 油壓控制器................................................................................................... 25

3.5 估測器設計................................................................................................... 27

3.5.1 輪速估測器........................................................................................ 27

3.5.2 車速估測器........................................................................................ 30

3.5.3 正向力估測器.................................................................................... 32

3.5.4 煞車力估測器.................................................................................... 33

3.5.5 路面狀況估測器................................................................................ 36

第四章 模擬結果........................................................................................................ 40

4.1 固定路面....................................................................................................... 40

4.2 路面變動....................................................................................................... 46

第五章 結論與未來展望............................................................................................ 52

參考文獻...................................................................................................................... 53

附錄.............................................................................................................................. 58

符號彙整...................................................................................................................... 59


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