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研究生:陳吳柏俊
研究生(外文):Chen Wu, Po-Chun
論文名稱:應用適應性H-infinity控制法則與輪胎縱向力分配於最小耗能之車輛運動控制
論文名稱(外文):Minimum Energy Control of Vehicle Motion by Adaptive H-infinity Method and Longitudinal Tire Force Distribution
指導教授:蕭得聖
指導教授(外文):Hsiao, Te-Sheng
學位類別:碩士
校院名稱:國立交通大學
系所名稱:電控工程研究所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2012
畢業學年度:101
語文別:中文
論文頁數:62
中文關鍵詞:車輛運動控制輪胎縱向力分配適應性控制法則節能
外文關鍵詞:H-infinityTire Force DistributionAdaptive MethodVehicle Motion
相關次數:
  • 被引用被引用:0
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  • 下載下載:44
  • 收藏至我的研究室書目清單書目收藏:0
近年來環保意識抬頭,在2011年,美國對在國內販售的車輛制訂了高規格的平均油耗標準,相信在未來,其他先進國家也會跟進。而各車廠為了能達到此標準,勢必會加速投入環保節能車輛的發展,帶動節能車電技術的快速成長。
本研究考量環保節能問題,利用適應性H-infinity控制器和最佳化輪胎與路面間縱向摩擦力分配,設計一個針對前輪轉向、前輪驅動的最小耗能車輛運動控制系統。運動控制系統分為上層控制器、最佳化輪胎與縱向摩擦力分配和下層控制器。當接收到轉向指令後,上層控制器根據駕駛情況用最佳化H_∞控制器權重比例分配出一H-infinity控制器,該H-infinity控制器計算出車輛維持行駛路徑所需的前輪轉向角和直接橫擺力矩,使車輛以最小能量損耗跟隨給定的參考軌跡。最佳化輪胎與縱向摩擦力分配將上層算出的直接橫擺力矩,以最小化輪胎縱向摩擦力平方和的方式分配給各個輪胎。下層控制器則考慮輪胎的非線性特性以及與真實輪胎間模型不確定性的問題,藉由控制輪胎力矩產生所需的輪胎縱向摩擦力。本研究透過模擬驗證在轉向與車道變換的駕駛情況下控制器控制的結果,在此控制架構下,確實能達到環保節能與安全性兼顧的結果。

This paper presents a lateral motion control scheme with minimum energy consumption for a front-wheel-steering/front-wheel-driving (FWS/FWD) vehicle using an adaptive H-infinity controller and an optimum longitudinal tire force distribution method. The proposed control system is divided into three layers: the upper controller, the optimum longitudinal tire force distribution and the lower controller. When the driver commands the vehicle, the upper controller finds the optimum weighting among various fixed H-infinity controllers on-line to generate the desired front wheel steering angle and direct yaw moment which allow the vehicle to follow the given reference trajectory with minimum energy loss. Then the optimum longitudinal tire force distribution algorithm determines the minimum longitudinal forces that meet the requirements for direct yaw moment from the upper controller. The lower controller compensates for the nonlinear and uncertain characteristics of the tire dynamics to generate the desired longitudinal tire forces. Finally, simulations are carried out to verify the effectiveness of the proposed control scheme.
目錄
中文摘要 i
英文摘要 ii
致謝 iii
目錄 iv
圖目錄 vi
表目錄 viii
符號表 ix
第一章、緒論 1
1.1 研究背景 1
1.2 研究目的 2
1.3 研究貢獻 3
1.4 論文架構 4
第二章、相關研究 5
2.1 直接橫擺力矩控制相關研究 5
2.2 統合底盤控制相關研究 7
第三章、車輛系統模型 10
3.1 車輛動態模型 10
3.2 輪胎模型 14
第四章、控制器設計 16
4.1 上層控制器 18
4.1.1 車輛參考模型 18
4.1.2適應性H-infinity控制器─最佳化控制器權重比例分配 20
4.1.2.1成本函數、限制條件 21
4.1.2.2設計方法 22
4.1.2.3小增益定裡 25
4.1.2.4 最佳化問題求解 26
4.2 最佳化輪胎與路面間摩擦力分配 28
4.2.1 成本函數、限制條件 28
4.2.2 最佳化問題求解 29
4.3下層控制器 31
4.3.1縱向力估測 32
4.3.2縱向摩擦力回授穩健控制器 33
第五章、模擬與結果討論 39
5.1 J-turn 42
5.2 Single-lane change 45
5.3相關控制器控制結果比較 47
第六章、結論與未來展望 58
6.1結論 58
6.2未來工作 59
參考文獻 60
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