臺灣博碩士論文加值系統

輕窄型側傾車由於車身窄、重心高及幾何限制等問題，在過彎時必須藉由車身側傾以降低重心方式抵抗外翻力矩，使得車輛可以高速穩定、安全的過彎。而由於輕窄型汽車與一般機車駕駛坐姿不同，且使用方向盤操作車輛，無法使用人力的方式進行側傾，因此必須搭配自動側傾控制系統，自動側傾至適當角度，以便能穩定過彎而不外翻。
本研究以前一後二之輕窄型側傾小汽車為對象，進行轉向自動側傾控制(Steering Tilt Control, STC)系統之探討。 STC系統必須搭配電子線控方向盤，當駕駛者轉動方向盤時，STC控制器經由控制轉向輪(前輪)的轉角，使車身側傾至目標傾角度，同時使行駛軌跡追隨方向盤所定義的行駛軌跡。
研究中從建立輕窄型側傾小汽車之STC控制系統開始，然後進行控制法則之研究，研究工作包括模擬與實驗驗證，另外，本研究亦比較STC與直接側傾控制(Direct Tilt Control, DTC)系統之特性。DTC系統係利用馬達自動推動車身而側傾，側傾時有暫態側傾扭矩過大之問題。
本研究已經完成實驗車之建置，電子線控轉向系統，以及STC控制器之設計與分析。本文所建立的STC控制器主要是以具備線上參數估測之適應性前饋控制器結合回饋控制器所構成，其中適應性前饋控制器是採用ARX (Autoregressive with exogenous model)模型來代表整車的局部動態行為並且推導前饋控制量，回饋控制器則是採用PID控制。
因為前饋控制器的ARX模型影響預測精度與計算時間成本，模型的階數為一個關鍵參數。經由模擬與實驗驗證結果顯示，本實驗車的ARX模型之最佳階數為4階。在控制效果方面，數值模擬結果顯示，加入預測性前饋控制器能有效降低馬達的最大暫態輸出扭矩，並且降低STC控制器對馬達的控制量約1.31%。與DTC相較，STC除了操作功率以及馬達重量大幅降低以外，在相同車速下，車輛之翻覆臨界側向加速度可增加0.04G。
關鍵字：轉向自動側傾控制，適應性控制，線上參數估測，線控轉向

Because of with narrow width and high center of gravity characteristics, light-weight narrow tilting vehicles NTVs) should be tilted to generate anti rollover moment when turning. Unlike motorcycles lean by driver, the NTVs require an automatic tilt control system to lean its body to an appropriate angle to make it turn steadily without overturn.
This thesis is mainly focused on design of automatic tilt control system for a NTV with two front wheels and single rear driving wheel. Firstly, a prototype of the NTV and the associated steer- by-wire steering system were established. Then the method of steering tilt control (STC) was studied. For the NTV with the STC system, the steer angle of its front wheels is controlled by the STC controller to make the NTV lean to an appropriate angle corresponding to driver’s command from hand wheel.
A controller for the STC was proposed in this study, which is consisted of an adaptive feedforward controller and a PID feedback controller. The feedforward controller is basically an one-step predictive controller, in which the control effort is derived from an ARX model with parameters estimated on-line via a sequential LSE estimator. Because the controller was implemented by a microprocessor, the optimal order of the ARX model should be determined in terms of computation costs and perdition errors .
The simulation results have shown that the proposed STC controller is feasible, and the most suitable order of the ARX model is 4 for the experimental NTV. The STC controller with feedforward controller can reduce sensitivity of the gain value variations of the PID controller. In additions, it can reduce the control effort about 1.35% comparing with using the PID controller alone.
This study also showed that the NTV applying the STC significantly reduce the weight and power requirements to the motor compared with that of applying the direct tilt control (DTC) technique. In addition to this, the NTV with the STC can increase the critical lateral acceleration of turnover to about 0.04G compared with the DTC at the same driving speed.
Keywords: Steering Tilt Control, Adaptive Control, On-Line Identification, Drive- by- Wire Steering

目錄
摘要 I
ABSTRACT III
謝誌 V
目錄 VI
表目錄 VIII
圖目錄 IX
第1章 緒論 1
1.1研究背景 1
1.2文獻回顧 2
1.3研究目的 6
第2章 三輪自動側傾車系統建立 8
2.1 自動側傾控制系統 8
2.2 自動鎖定系統 9
2.3 線控轉向系統 11
2.4 感測器與電路系統 12
2.5訊號濾波之處理 14
第3章 側傾車之轉向控制模擬 21
3.1側傾車模擬建立 21
3.2自動側傾車架構(DTC)加入線控方向盤 25
3.3側傾車線上參數辨識(ARX Model)之適應性前饋控制器建立 31
3.4 STC加入ARX前饋控制 35
3.5 DTC與STC控制結果比較 41
第4章 自動側傾控制之實車道路驗證 45
4.1實車不側傾道路測試 45
4.2搭配自動側傾控制之實車道路測試 47
4.3實車道路測試結果與討論 50
第5章 結論與建議 52
參考文獻 54
作者簡介 56
 

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