結論

本研究目的為針對四軸車輛提出一種新型轉向幾何，可提高四軸車輛之機動 性，同時又能維持良好的輪胎磨耗特性，並且進一步以新型轉向幾何為設計目標，

探討新型轉向幾何應用於實際轉向機構之可行性。另外，本研究也考量轉向機構維 修整備之便利性，討論新型轉向幾何應用於轉向機構模組化設計之可能性。

本研究首先依據實際轉向機構參數建立最佳化設計方法，包括目標函數、設計 變數、設計條件以及最佳化演算法，然後將實際車輛參數帶入四軸車輛穩態轉向模 型中，模擬阿克曼轉向幾何下前雙軸轉向與一二四軸轉向之四軸車輛穩態轉向特 性，藉此找出適合之阿克曼轉向幾何設定，並以其為設計目標進行轉向機構設計，

證明阿克曼轉向幾何由實際轉向機構實現之可行性，以作為後續設計之基準。另外 同時也確認本研究建立之最佳化設計方法可設計出符合目標轉向幾何與限制之轉 向機構。

將研究成果針對阿克曼轉向幾何之轉向特性分析與轉向機構設計整理如下：

1. 前雙軸轉向之四軸車輛無法達到理想阿克曼轉向幾何，只能折衷選擇讓前四 輪軸心延伸線之交點落在某一軸的延伸線上，其中交於3.5 軸上可以有較小之 迴轉半徑，且整體輪胎磨耗也不會太大，又可避免正側滑角之發生，故交於3.5 軸是較好的折衷交點位置。

2. 一二四軸轉向之四軸車輛可達到理想阿克曼轉向幾何，相較於前雙軸轉向，其 具有較小的迴轉半徑，且低速時整體輪胎磨耗較少，磨耗分布也較均勻，對於 四軸車輛進行低速且大轉向角的行駛而言，是較好的轉向設計。

3. 前雙軸轉向與一二四軸轉向之四軸車輛可由實際轉向連桿機構來實現理想阿 克曼轉向幾何於實車上之應用。

確認理想阿克曼轉向幾何可由實際轉向機構實現後，本研究針對前雙軸轉向 四軸車輛提出雙平行轉向幾何，將其與阿克曼轉向幾何進行比較，並推論出可提高

四軸車輛機動性且維持良好輪胎磨耗特性的新型轉向幾何，然後以新型轉向幾何 為設計目標進行轉向機構設計。求得最佳化結果後，根據輪胎轉向角變化，調整新 型轉向幾何之設定，使其更符合實際轉向機構所能達到之轉向幾何。接著，同樣針 對一二四軸轉向四軸車輛提出三平行轉向幾何，將其與阿克曼轉向幾何比較，並根 據調整後之新型轉向幾何訂立一二四軸新型轉向幾何，然後以此為設計目標進行 轉向機構設計。最後，再將前述之最佳化結果與現行轉向機構進行比較與分析。

針對新型轉向幾何以實際轉向機構實現之可行性，將研究成果整理如下：

1. 雙平行與三平行轉向幾何皆可使輪軸線交點落於同一軸之情況下產生的迴轉 半徑小於阿克曼轉向幾何。但是，會使得整體側滑角變大，增加輪胎磨耗，而 且磨耗均勻度也會較不佳。

2. 以二次函數變化之新型轉向幾何在本研究所參考之實車空間限制與連桿運動 限制等條件下更符合實際轉向機構所能達到之轉向幾何。

3. 無論是前雙軸轉向還是一二四軸轉向，新型轉向幾何皆可藉由轉向機構尺寸規 格之最佳化設計來近似，證明其在實際應用上有一定程度之可行性。

4. 以新型轉向幾何為目標所設計之轉向機構可使四軸車輛在小轉向角時維持與 阿克曼轉向幾何相近之輪胎磨耗特性，並且在大轉向角時可有效地縮小迴轉半 徑，達到近似於雙平行與三平行轉向幾何之數值，提高車輛機動性。

5. 相較於現行轉向機構，以新型轉向幾何為目標所設計之轉向機構確實能使大轉 向角時的迴轉半徑更小，而且也能使低速下小轉向角時的整體輪胎磨耗特性優 於現行轉向機構或是維持差不多的磨耗特性。唯一缺點是高速時整體磨耗程度 會較大。

考量到四軸車輛轉向機構在維修整備上之便利性，本研究進一步以新型轉向 幾何為設計目標，討論轉向機構模組化設計之可能性。將研究結果針對模組化設計 整理如下：

1. 模組化之前雙軸轉向機構可在部分輪胎轉向角符合新型轉向幾何，其所產生之

145

整體輪胎磨耗特性與阿克曼轉向幾何相近，且能使迴轉半徑略微縮小，具有一 定程度之可行性。

2. 模組化之一二四軸轉向機構無法達到一二四軸新型轉向幾何，所有輪胎轉向角 與目標轉向角之間存在不小的誤差。

綜合上述，透過本研究除了可瞭解阿克曼轉向幾何以實際轉向機構應用於四 軸車輛的可行性之外，新型轉向幾何與轉向機構之最佳化結果亦可對四軸車輛或 是其他多軸車輛的轉向特性與轉向機構改良提供一參考基準。

6-2 未來展望

本研究以提高四軸車輛機動性和維持輪胎磨耗特性為目標，設計一新型轉向 幾何，並且進行四軸整車轉向機構之設計。其中尚有可再深入研究的部分如下：

1. 模擬其他轉向幾何設定對四軸車輛穩態轉向特性之影響，藉此討論是否有更 適合的轉向幾何設計。

2. 考慮實際轉向機構所需轉動扭力，並依據力學分析，將扭力條件加入設計限制 中。

3. 考慮轉向機輸出比可隨轉動角度改變時，對於轉向幾何與轉向機構設計之影 響。

4. 討論動態下新型轉向幾何對於車輛行駛之影響。

5. 以不同轉向機構為原型進行最佳化設計，討論新型轉向幾何是否可由其他機 構達成。

6. 調整一二四軸轉向機構模組化設定，折衷選擇兩軸轉向機構模組化，其餘一軸 設為可變動，探討可行性。

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附件 各最佳化搜尋中適應值最小之 5 組解

每一種最佳化搜尋中適應值最小的5 組解，如下

1. 以前雙軸轉向輪輪軸線交於第 3.5 軸之阿克曼轉向幾何為設計目標(3-4-3 小節) 適應值 7.3304 7.6989 8.0394 9.6516 15.4586

設 計 變 數 數 值

𝐿

𝑔

(mm) 360.3342 321.9349 492.6242 500 300 𝐿

𝑝

(mm) 214.9185 205.9027 175.4899 300 213.7073 𝐿

₁

(mm) 506.3159 499.4526 588.1263 628.7753 498.1330 𝐿

₂

(mm) 257.5621 258.4687 208.7618 390.1953 260.9981 𝐿

_3𝑙

、𝐿

_3𝑟

(mm) 350 100.0281 234.6085 158.6849 165.6899 𝐿

5𝑙

、𝐿

_5𝑟

(mm) 210.9668 233.5883 243.6499 250 217.5312 𝐿

6𝑙

、𝐿

_6𝑟

(mm) 699.6966 699.9969 587.8061 569.9146 700 𝐿

_7𝑙

、𝐿

_7𝑟

(mm) 259.3997 271.7180 284.1913 276.8061 260.9197

𝜃

𝑝

(deg) 90.575 90.4631 90.8684 89.2662 90.7792 𝜃

5𝑙

(deg) 95.8466 99.0219 98.8404 100 96.8185 𝐿

𝑔2

(mm) 454.2441 469.4098 480.0154 420.8131 384.5270 𝐿

_𝑝𝑠

(mm) 100 107.0771 114.2384 100 109.6168 𝐿

1𝑠

(mm) 597.4681 612.8700 610.6907 596.0320 665.6361 𝐿

2𝑠

(mm) 217.7728 217.2597 212.0861 191.5286 253.4551 𝐿

_3𝑙𝑠

、𝐿

_3𝑟𝑠

(mm) 114.4864 119.2983 135.3268 255.7963 108.9481 𝐿

_5𝑙𝑠

、𝐿

_5𝑟𝑠

(mm) 250 191.0770 224.9599 248.6148 233.8057 𝐿

_6𝑙𝑠

、𝐿

_6𝑟𝑠

(mm) 586.9293 619.7742 584.2476 604.6751 584.7553 𝐿

7𝑙𝑠

、𝐿

7𝑟𝑠

(mm) 175.8319 150 170.1308 194.5417 182.3547 𝜃

_𝑝𝑠

(deg) 266.9382 265.9502 265.1033 267.0490 262.3666 𝜃

_5𝑙𝑠

(deg) 90.8067 80.1767 96 92.9265 87.2563

𝑘

21

0.7075 0.7338 0.7 0.7 0.7184

151

3. 以前雙軸轉向之新型轉向幾何為設計目標(4-2-2 小節)

適應值 1288.831 1381.0043 1414.0465 1415.4191 1426.2641

設 計 變 數 數 值

𝐿

_𝑔

(mm) 338.3044 412.2255 489.0448 300.9758 369.0191 𝐿

_𝑝

(mm) 271.3073 262.9736 299.9496 299.8347 300 𝐿

1

(mm) 563.1046 596.7016 663.9481 532.9744 589.7560 𝐿

2

(mm) 203.8334 201.2988 253.3394 248.4201 271.3050

𝐿

3𝑙

、𝐿

_3𝑟

(mm) 350 350 297.1324 350 250.7400

𝐿

_5𝑙

、𝐿

_5𝑟

(mm) 188.3009 196.8041 168.0173 187.6038 207.4067 𝐿

_6𝑙

、𝐿

_6𝑟

(mm) 645.5158 604.7773 560.6857 700 590.7199 𝐿

7𝑙

、𝐿

_7𝑟

(mm) 279.9818 290 230.2857 290 290

𝜃

_𝑝

(deg) 91.3745 90.5134 92.7890 90.4842 92.9882

𝜃

_5𝑙

(deg) 99.0899 100 100 100 100

𝐿

_𝑔2

(mm) 443.9133 333.4737 334.2598 451.8192 392.3163 𝐿

𝑝𝑠

(mm) 108.2798 107.8588 103.9666 106.6945 105.6814 𝐿

_1𝑠

(mm) 579.4014 684.1971 689.8817 696.9397 568.6189 𝐿

_2𝑠

(mm) 218.5726 181.8207 183.9512 150 204.6871 𝐿

3𝑙𝑠

、𝐿

3𝑟𝑠

(mm) 108.6252 139.9830 229.1247 350 304.7407 𝐿

5𝑙𝑠

、𝐿

5𝑟𝑠

(mm) 244.0380 249.9641 231.2100 218.4075 207.3280 𝐿

6𝑙𝑠

、𝐿

_6𝑟𝑠

(mm) 623.7995 575.7181 590.3253 549.1150 695.6887 𝐿

_7𝑙𝑠

、𝐿

_7𝑟𝑠

(mm) 152.7788 219.5110 197.8537 211.2751 150

𝜃

_𝑝𝑠

(deg) 265.4934 270.2974 269.0833 274.7018 261.6891 𝜃

5𝑙𝑠

(deg) 99.2234 90.6400 91.7744 95.2256 78.1612

𝑘

₂₁

0.7253 0.7 0.7065 0.7 0.7217

153

4. 以前雙軸轉向之線性變化新型轉向幾何為設計目標(4-3-2 小節)

適應值 1385.4275 1398.1972 1524.8777 1579.6545 1635.2691

設 計 變 數 數 值

𝐿

_𝑔

(mm) 484.0872 414.8231 471.5097 392.4409 300.0084 𝐿

_𝑝

(mm) 300 289.7551 187.8464 298.5429 260.9508 𝐿

1

(mm) 627.5149 599.5660 605.7972 598.8051 535.4116 𝐿

2

(mm) 251.4192 236.8547 150 230.1127 214.8088 𝐿

3𝑙

、𝐿

_3𝑟

(mm) 349.9999 350 318.2169 350 253.0478 𝐿

_5𝑙

、𝐿

_5𝑟

(mm) 200.5360 203.5348 207.8698 192.0602 209.0153 𝐿

_6𝑙

、𝐿

_6𝑟

(mm) 557.7711 579.5461 538.5425 600.8594 638.0308 𝐿

7𝑙

、𝐿

_7𝑟

(mm) 289.9603 290 290 272.3858 290

𝜃

_𝑝

(deg) 89.8535 91.2298 90.5065 91.2831 90.9416

𝜃

_5𝑙

(deg) 99.9999 100 100 100 99.9846

𝐿

_𝑔2

(mm) 415.7173 499.9982 499.5378 499.9923 432.6131 𝐿

𝑝𝑠

(mm) 100.0621 118.2041 143.6694 172.9900 128.8640 𝐿

_1𝑠

(mm) 577.7853 646.6268 661.5931 591.4515 672.6086 𝐿

_2𝑠

(mm) 214.4785 201.9145 224.7613 190.9694 193.9199 𝐿

3𝑙𝑠

、𝐿

3𝑟𝑠

(mm) 100.0005 100 350 206.3406 300.7896 𝐿

5𝑙𝑠

、𝐿

5𝑟𝑠

(mm) 247.1753 206.7248 245.8381 242.3985 223.4366 𝐿

6𝑙𝑠

、𝐿

_6𝑟𝑠

(mm) 647.3400 615.3919 576.1468 649.9767 623.4497 𝐿

_7𝑙𝑠

、𝐿

_7𝑟𝑠

(mm) 153.3293 150.0001 194.2544 264.1280 204.1891 𝜃

_𝑝𝑠

(deg) 267.5728 266.5261 259.9649 253.7988 265.9989 𝜃

5𝑙𝑠

(deg) 96.0004 90.3008 84.0767 79.3708 68.1911

𝑘

₂₁

0.7 0.7 0.7 0.7 0.7086

5. 以前雙軸轉向之二次函數變化新型轉向幾何為設計目標(4-3-2 小節)

適應值 551.5419 568.6734 577.2999 580.2174 634.4304

設 計 變 數 數 值

𝐿

_𝑔

(mm) 500 300 470.0223 330.9681 462.8184

𝐿

_𝑝

(mm) 280.3648 300 232.8797 259.6372 183.0725 𝐿

1

(mm) 645.6736 561.8950 615.5173 564.9364 601.0800 𝐿

2

(mm) 242.0336 236.1058 204.1298 198.0396 150 𝐿

3𝑙

、𝐿

_3𝑟

(mm) 312.8357 234.8291 282.2055 271.6107 284.0003 𝐿

_5𝑙

、𝐿

_5𝑟

(mm) 204.1393 164.7820 202.6782 202.3540 146.2984 𝐿

_6𝑙

、𝐿

_6𝑟

(mm) 530.3881 685.9386 555.8969 625.8654 629.6762 𝐿

7𝑙

、𝐿

_7𝑟

(mm) 289.9616 242.8777 289.9960 290 219.0626 𝜃

_𝑝

(deg) 91.9698 90.7452 91.8139 91.9713 91.1660

𝜃

_5𝑙

(deg) 100 100 100 100 100

𝐿

_𝑔2

(mm) 500 500 384.6951 420.5703 356.3317

𝐿

𝑝𝑠

(mm) 100 100.0053 100 140.1449 100

𝐿

_1𝑠

(mm) 700 700 607.9311 601.9139 586.8806 𝐿

_2𝑠

(mm) 202.3012 157.8973 224.3610 290.3870 197.6641 𝐿

3𝑙𝑠

、𝐿

3𝑟𝑠

(mm) 100 106.8445 299.2720 100 100 𝐿

5𝑙𝑠

、𝐿

5𝑟𝑠

(mm) 250 202.1962 249.9995 249.9246 250 𝐿

6𝑙𝑠

、𝐿

_6𝑟𝑠

(mm) 532.6200 570.0626 627.6278 664.1759 675.9834 𝐿

_7𝑙𝑠

、𝐿

_7𝑟𝑠

(mm) 162.9059 150 153.7554 150 167.3342 𝜃

_𝑝𝑠

(deg) 268.9684 274.7534 265.3370 252.2409 269.1846

𝜃

5𝑙𝑠

(deg) 100 100 88.0512 71.3122 76.1685

𝑘

₂₁

0.7157 0.7 0.7 0.7 0.7

155

6. 以一二四軸轉向之一二四軸新型轉向幾何為設計目標(4-5-2 小節)

適應值 1635.6005 1739.7642 1760.4227 1774.3654 1823.6005

設

7. 前雙軸轉向機構之模組化設計(5-2-1 小節)

適應值 3771.8643 3797.051 3819.689 9

(mm) 273.3986 223.6956 246.0029 227.6686 222.5750 𝐿

5𝑙

、𝐿

5𝑟

、𝐿

5𝑙𝑠

、𝐿

5𝑟𝑠

(mm) 231.1772 249.9861 217.4260 170.6963 221.4831 𝐿

6𝑙

、𝐿

_6𝑟

、𝐿

_6𝑙𝑠

、𝐿

_6𝑟𝑠

(mm) 501.8994 520.2974 524.6005 505.2553 523.7200 𝐿

_7𝑙

、𝐿

_7𝑟

、𝐿

_7𝑙𝑠

、𝐿

_7𝑟𝑠

178.3837 214.6379 189.4438 205.3312 169.0206

𝐿

5𝑙

、𝐿

5𝑟

、𝐿

5𝑙𝑠

、 𝐿

5𝑟𝑠

、𝐿

_5𝑙𝑓

、𝐿

_5𝑟𝑓

(mm)

248.0901 233.4880 250 243.9112 249.9996

𝐿

_6𝑙

、𝐿

_6𝑟

、𝐿

_6𝑙𝑠

、 𝐿

6𝑟𝑠

、𝐿

6𝑙𝑓

、𝐿

6𝑟𝑓

(mm)

576.7558 568.9591 645.4225 634.1413 681.4199

𝐿

7𝑙

、𝐿

_7𝑟

、𝐿

_7𝑙𝑠

、 𝐿

7𝑟𝑠

、𝐿

_7𝑙𝑓

、𝐿

_7𝑟𝑓

(mm)

289.9905 289.9680 289.0135 290 270.7327

𝜃

_𝑝

、𝜃

_𝑝𝑠

、𝜃

_𝑝𝑓

(deg) 95.4137 95.6873 95.2650 96.5424 94.6425

𝜃

_5𝑙

、𝜃

_5𝑙𝑠

、𝜃

_5𝑙𝑓

(deg) 60 60 60 60 60.0245

𝑘

₂₁

0.7 0.7 0.7 0.7 0.7

𝑘

41

0.7 0.7 0.7 0.7 0.7

157

problem.objFun = @(x) objectiveAll_PSO_TVAC(x); % 目標函數 problem.nVar = 21; % 變數個數

problem.VarMin = [150 400 150 100 100 500 150 70 60 100 400 150 100 100 500 150 230 60 0.7 300 300]; % 變 數下限

problem.VarMax = [300 800 400 350 250 700 290 110 100 220 700 350 350 250 700 290 300 100 1.3 500 500]; % 變數上限

param.ShowIterInfo = true; % 決定是否顯示每次疊代資訊

%% 進入PSO演算 %%

timer2 = tic;

timer2 = tic;

在文檔中 四軸整車轉向幾何與轉向機構之最佳化設計 (頁 161-200)