臺灣博碩士論文加值系統

本研究目的為提出一獨立式主動轉向系統之設計。首先分析傳統齒條小齒輪式機構，除了藉此驗證過程所用之機構解析法外，亦獲知其轉向幾何、轉向減速比、最大轉向角度等運動特性以為設計參考。接著以車輛低速過彎時理想之阿克曼軌跡為目標，利用封閉迴路方程式將此機構函數產生問題轉化為軌跡產生問題，利用行星輪上一點產生之擺線合成此軌跡以達成阿克曼轉向幾何，並且在衡量轉向幾何誤差、最大轉向角度、轉向比特性、機構尺寸等參數下得到最佳化設計，最後使用基本五桿行星齒輪組擴充其自由度為三，達成獨立主動轉向之功能，使車輛低速時能在不需馬達修正控制之情況下以阿克曼幾何過彎，中高速時則改變轉向幾何使外側輪角度增加以提供足夠之轉彎力增進車輛操控性及安全性。

The purpose of this research is to propose a design of Active Independent Front Steering System. Firstly a traditional rack-and-pinion steering mechanism is being analyzed for verifying an analytical method and obtaining the kinematic characteristics such as steering geometry, steering reduction ratio and the maximum steer angle for being the reference of designing a novel mechanism. Second, aiming at Ackerman steering geometry which is an ideal case while the vehicle is cornering at low speed, the closed-loop equation is used to transfer the mechanism function generation problem into a path generation problem, which can be solved by the locus of certain point on the planet gear forming a cycloid trace around the ring gear proposed in this research. Then the optimum design is obtained with considering the steering geometry error, maximum steer angle, reduction ratio, and mechanism dimensions. Finally, expand the degree of freedom of motion by adding two sets of basic planetary gear train onto the Ackerman mechanism for achieving the independent active steering function which allows the vehicle at low speed to take a corner with Ackerman geometry but without motor modification, and at higher speed to add the outer wheel steer angle for the reason of offering more lateral force which could enhance the handling performance and the most important thing, safety.

摘　要 i
ABSTRACT iii
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 文獻回顧 1
1.2.1 轉向幾何 1
1.2.2 主動轉向系統 (AFS) 4
1.2.3 獨立主動轉向系統 (AIFS) 5
1.3 研究動機和目的 7
1.4 本文架構 8
第二章 齒條小齒輪式轉向系統 9
2.1 前言 9
2.2 機構二維模型 9
2.3 解析法 10
2.3.1 封閉迴路方程式 10
2.3.2 計算結果與轉向機構之評估 13
2.4 模擬驗證 17
2.5 小結 20
第三章 阿克曼轉向機構 21
3.1 前言 21
3.2 行星輪擺線軌跡 21
3.3 阿克曼轉向機構之合成 24
3.4 模擬驗證 33
3.4.1 轉向機構運動模擬 33
3.4.2 全車低速轉向測試 35
第四章 獨立主動轉向系統 37
4.1 前言 37
4.2 機構設計 37
4.3 車輛運動模型 42
4.4 控制策略 45
4.5 模擬結果分析 47
第五章 結論與未來展望 50
5.1 結論 50
5.2 未來展望 50
附錄A 車輛參數 51
附錄B 阿克曼機構參數資料庫 52
參考文獻 61
作者簡介 62

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