臺灣博碩士論文加值系統

本論文旨在開發氣壓肌肉主動式車輛懸吊系統並進行控制器設計，以提供車輛更佳之乘坐舒適性與駕駛的操控性。由於氣壓肌肉主動式車輛懸吊系統具有高度之非線性與時變特性，所以要對其系統動態建立精確之數學模式，以進行控制器設計是相當困難的，因此本論文利用Haar小波級數近似系統數學模式，並結合適應控制、滑動模式控制與 追蹤技術，設計氣壓肌肉主動式車輛懸吊系統的適應性滑動模控制器。其中結合Haar小波級數與適應控制來近似系統動態數學模式中的未知函數，以去除設計滑動模式控制器需系統數學模式之限制，另外加入 追蹤技術來補償有限項級數近似誤差與系統外部干擾及減緩滑動模式控制器的不連續跳切現象，改善控制效果與減低實際控制系統實現之困難度，並藉由Lyapunov穩定準則來獲取控制器的參數更新律確保系統受控過程的穩定性。本論文除研製一座四分之ㄧ車氣壓肌肉主動式懸吊系統外，並實際將所設計之自適應滑動模式控制器實現於該系統上，實驗結果顯示氣壓肌肉主動式車輛懸吊系統在自適應滑動模式控制器的補償下，對各種不同的顛簸路面均有相當不錯之減振與抑振效果。

This thesis developed a pneumatic-muscle active vehicle suspension system, and designed the controller to provide the better riding comfort and driving controllability. Due to the high nonlinearity and time-variant characteristics of the pneumatic-muscle active vehicle suspension system, it is difficult to establish an accurate dynamic mathematical model of the system to conduct the controller design. This thesis thus used the mathematical model of Haar wavelet series approximation system, along with the adaptive control, sliding mode control and tracking technology, to design an adaptive sliding mode controller of the pneumatic-muscle active vehicle suspension system. The unknown functions in the dynamic mathematical model of system were approximated in combination with the Haar wavelet series and adaptive control to eliminate the limitation of needing the mathematical model of system to design the sliding mode controller. Moreover, the tracking technology was incorporated to compensate for the finite series approximation error and external interference of system and mitigate the discontinuous jump-cut phenomena of sliding mode controller, thus improving the control effect and reducing the difficulty in realizing the actual control system. In addition, the Lyapunov stability criterion was used to obtain the controller parameter updating law to ensure the stability of the controlled process of system. In addition to developing a pneumatic-muscle active suspension system of 1/4 vehicle, this thesis also designed an adaptive sliding mode controller on the system. The experimental results indicated that under the compensation of the adaptive sliding mode controller, the pneumatic-muscle active vehicle suspension system has good vibration damping and suppressing effect on various bumpy road surfaces.

摘要 i
ABSTRACT ii
誌謝 iv
目錄 v
表目錄 vii
圖目錄 viii
第一章 緒論 1
1.1 前言 1
1.2 車輛懸吊系統的種類 2
1.3 文獻回顧 4
1.3.1 主動式車輛懸吊系統 5
1.3.2 氣壓肌肉致動器 6
1.3.3 控制理論 7
1.4 研究動機 9
1.5 論文架構 11
第二章 實驗系統架構與設備 12
2.1 實驗系統架構 12
2.2 路面模擬系統 16
2.3 氣壓肌肉致動系統 18
2.4 嵌入式控制系統 25
第三章 氣壓肌肉主動式懸吊系統數學模型建立 27
3.1 氣壓肌肉致動器工作原理及其特性 27
3.2 氣壓肌肉致動系統數學模型 30
3.3 四分之一車氣壓肌肉主動式懸吊系統數學模型 33
第四章 控制理論與控制器設計 36
4.1 滑動模式控制器設計 36
4.2 函數近似法與Haar小波級數 39
4.3 .Haar小波為基礎之適應性滑動模式控制器設計 43
4.4 .Haar小波基礎具 追蹤性能之適應性滑動模式控制器設計 45
4.5 基於輸入-輸出線性化之Haar小波基礎具 追蹤性能之適應性滑動模式控制器設計 47
4.5.1 輸入-輸出線性化 48
4.6 四分之一車氣壓肌肉主動式懸吊系統控制器設計 51
第五章 實驗及結果討論 54
5.1 氣壓肌肉致動系統伺服控制實驗 54
5.1.1 氣壓肌肉致動系統定位控制實驗 55
5.1.2 氣壓肌肉致動系統軌跡追蹤實驗 58
5.2 四分之一車氣壓肌肉主動式懸吊系統控制實驗 61
5.2.1 路面模擬 61
5.2.2 動態車體位置控制實驗結果 66
第六章 結論與建議 78
6.1 結論 78
6.2 建議 79
參考文獻 80

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