臺灣博碩士論文加值系統

為了增進乘坐的舒適性，本文以半主動式與主動式為概念設計了不同形式的避震器，並分別對汽車底盤的懸吊特性進行振動抑制控制。
首先在半主動式懸吊系統，本文研發連續可調式避震器並評估阻尼的特性。再將其裝置於四分之一車懸吊系統測試機台。在控制器設計上，使用模糊天勾控制器與混和型的模糊滑動模式控制器兩種控制器，來獲得四分之一車半主動式懸吊系統的響應特性比較。並延續四分之一車研究將連續可調式避震器裝置於全車動態實驗台，並藉由路況模擬實驗台來驗證半主動控制對於隨機路面的車身抑制效能。而當車輛行經隨機路面時，車身耦合的振動行為之抑制改善也是一個重要的課題。有鑑於此，本文設計解耦合控制器來降低此現象的產生。
於主動式懸吊系統，本文研發主動式液壓避震器，使主動液壓缸與避震器整合為一體。再將其裝置於四分之一車懸吊系統測試機台進行隨機路面實驗測試。在控制器設計上，使用自調式模糊滑動模式控制器，並與被動式、半主動式懸吊系統相互比較響應特性。再將主動式液壓避震器裝置於全車動態實驗台，利用路況模擬實驗台測試此懸吊系統的性能優劣，並設計解耦合控制器，來提高車身穩定性。
在四分之一車與全車的舒適性上，依據ISO2631–1進行三項舒適性評估，分別為加速度功率頻譜密度函數(PSD)、Meister曲線圖與加權加速度均方根值來評斷其性能，由實驗結果可知，所提出的控制器能顯著地改善車身振動與乘坐舒適性。

In order to enhance ride comfort, this study utilized the concepts of semi-active and active suspension systems to design various dampers to reduce the vibration in accordance with the chassis dynamics.
For semi-active suspension system, this study developed a continuous adjustable damper and experimentally evaluated its damped responses. The proposed adjustable damper was subsequently incorporated into a quarter car system. For the aspects of controller design, the fuzzy-skyhook controller and the hybrid fuzzy sliding mode controller were employed and compared with results of the quarter car semi-active suspension system. With the full car analysis, a road simulation and a dynamic model for full vehicle suspension system were built to evaluate vibration suppression of the proposed adjustable dampers under rough road excitation. When a vehicle runs on a random road, the improvement on coupled vibration are essential. Regarding the coupled characteristics of a full car for the semi-active suspension system, a decoupling controller was designed to avoid the phenomena.
For active suspension system, this study designed an active hydraulic damper that combined a hydraulic actuator and a shock absorber. The active hydraulic damper was subsequently incorporated into a quarter car system under random road excitation. With regard to controller design, the self-tuning fuzzy sliding mode controller was employed and compared with passive and semi-active suspension systems for their responses. The active hydraulic dampers were set on the dynamic model for full vehicle suspension system to examine its performance. The decoupling controller was designed to improve the stability of the vehicle.
Three types of ride comfort analyses: namely PSD, Meister chart, and vibration-weighted accelerations were conducted on the quarter car and full car based on ISO2631-1. The experimental results indicated that the developed controllers can significantly improve the performance in both vibration suppression and ride comfort.

中文摘要 I
英文摘要 II
誌謝 III
目錄 IV
圖目錄 IX
表目錄 XVI
符號說明 XIX
第一章 緒 論 1
1-1背景 2
1-2車輛懸吊系統的分類 6
1-3避震器性能特性 11
1-4懸吊之舒適度性能指標 12
1-5文獻回顧 16
1-5-1 半主動式懸吊系統之文獻回顧 17
1-5-2 主動式懸吊系統之文獻回顧 21
1-6 研究目的與本文架構 24
第二章 四分之一車半主動式懸吊控制之舒適性探討 28
2-1避震器構造 28
2-1-1單筒式避震器 29
2-1-2雙筒式避震器 30
2-1-3雙筒與單筒式特性比較 31
2-2 雙筒式可調式避震器的數學探討 32
2-2-1 孔口流量探討 33
2-2-2 壓力變化的探討 35
2-2-3 連續可調式避震器結構與設計 37
2-2-4 連續可調式避震器性能量測 40
2-2-5 分段與連續的可調式避震器的性能差異 41
2-3 四分之一車半主動式懸吊實驗機台架構 42
2-4 四分之一車隨機測試路面訊號 45
2-5 四分之一車懸吊系統數學模型與控制器設計 49
2-5-1四分之一車半主動式數學模型 50
2-5-2 模糊天勾控制器 51
2-5-3混和型的模糊滑動模式控制器的設計 54
2-6 四分之一車半主動式實驗結果與討論 62
2-7 總結 65
第三章 全車半主動式懸吊控制之舒適性探討 66
3-1全車半主動懸吊實驗台設計架構 67
3-2 全車隨機測試路面訊號 69
3-3全車懸吊系統數學模型與控制器設計 70
3-3-1全車半主動式數學模型 71
3-3-2模糊天勾控制器 73
3-3-3解耦合混和型的模糊滑動模式控制器 75
3-3-3-1混和型的模糊滑動模式控制器 76
3-3-3-2解耦合控制單元 79
3-4 全車半主動式實驗結果與討論 85
3-4-1未解耦合之半主動式控制器與被動式實驗結果比較 85
3-4-2半主動式解耦合控制器與未解耦合實驗結果比較 93
3-5 總結 101
第四章 四分之一車主動式懸吊控制之舒適性探討 102
4-1 主動式液壓避震器的設計 102
4-1-1主動式液壓避震器之壓力方程式 104
4-1-2 主動式液壓避震器結構與設計 107
4-1-3連續可調式避震器與主動式液壓避震器功能比較 109
4-2 四分之一車主動式懸吊實驗機台架構 110
4-3 四分之一車隨機測試路面訊號 112
4-4 四分之一車懸吊系統數學模型與控制器設計 113
4-4-1 四分之一車主動式數學模型 113
4-4-2自調式模糊滑動模式控制器的設計 114
4-5 四分之一車主動式與半主動式實驗結果與討論 121
4-6 總結 123
第五章 全車主動式懸吊控制之舒適性探討 125
5-1全車半主動懸吊實驗台設計架構 126
5-2 全車隨機測試路面訊號 128
5-3全車懸吊系統數學模型與控制器設計 129
5-3-1全車主動式數學模型 130
5-3-2解耦合自調式模糊滑動模式控制器 132
5-3-2-1 自調式模糊滑動模式控制器 133
5-3-2-2解耦合控制單元 137
5-4 全車主動式實驗結果與討論 142
5-4-1未解耦之主動式與半主動式實驗結果比較 142
5-4-2解耦合之主動式與半主動式控制器實驗結果比較 150
5-5 總結 158
第六章 結論與建議 159
6-1結論與討論 159
6-2未來展望與建議 162
參考文獻 164
附錄A 172

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