DYNAMICS SIMULATION AND CONTROL FOR VEHICLE DRIVING SYSTEM 周安正、陳志鏗
E-mail: [email protected]
ABSTRACT
THE THESIS IS TO DEVELOP THE DYNAMICAL EQUATION OF MOTION OF A CAR WITH SEVEN DEGREES OF FREEDOM INCLUDING THE LONGITUDINAL, LATERAL, YAW MOTION, AND ROTATIONAL MOTIONS OF FOUR WH -EELS. THE LONGITUDINAL FORCE, LATERAL FORCE AND YAW RATE ARE INVESTIGATED DURING THE VEHI -CLE CHANGING ITS DIRECTION OF CRUISE. THE SIMULATION STUDIES ARE DIVIDED INTO TWO PARTS. THE FIRST PART IS PATH FOLLOWING FOR THE DESIRED PATH. WE GENERATE THE STEERING-WHEEL ANGLES BY HUMAN BEING EXPERIENCE FOR FOLL -OWING DIFFERENT PATHS. THE SIMULATION RESULTS ARE USED AS THE TRAINING DATA FOR THE FUZZY CONTROLLER WITH ANFIS LEARNING PROCESS. THE PATH FOLLOWING FUZZY CONTROLLER IS VERIFIED BY THE COMPUTER
SIMULATION. THE SECOND PART IS DYNAMIC DRIVING CONTROL (DDC). BY APPLYING THE BRAKE FORCE FOR EACH WHEEL, THE YAW MOMENTS CAN BE PRODUCED TO ADJUST TRAVELING DIRECTION OF THE VEHICLE. IT LEADS TO THE BETTER CONTROL RESULT FOR LANE CHANGE AND OBSTACLE AVOIDAN -CE IN SNOW LAND. THE FUZZY CONTROLLER CAN EFFECTIVELY FOLLOW THE PLANNED PATH ON THE DRY AND SNOW ROAD LA -ND.BY ADDING THE DYNAMIC DRIVING CONTROLLER IN THE VEHICLE, IT CAN ENHANCE ITS DRIVING CO -NTROL STABILITY ON THE SNOWY ROAD SURFACE.
Keywords : PATH FOLLOWING, ANFIS, FUZZY CONTROL, DYNAMIC DRIVING CONTROL Table of Contents
第一章 緒論--P1 1.1 前言--P1 1.2 文獻回顧--P2 1.3 研究動機及本文架構--P4 第二章 車體操控動態模型--P6 2.1 系統數學模式 建立--P6 2.1.1輪胎作用力模式--P6 2.1.2車體動態數學模式--P8 2.1.3輪胎受力模式--P13 2.1.4車體操控系統整體數學模 式--P17 2.2 數學模型之數值模擬--P20 第三章 操控動態控制系統控制器設計--P31 3.1 模糊控制理論--P31 3.2 以ANFIS訓練 模糊控制器--P34 3.2.1產生訓練資料及控制器架構--P35 3.2.2以ANFIS訓練模糊控制器之訓練結果--P40 第四章 車體操控動 態模型模擬結果與討論--P42 4.1 跟隨控制模擬--P42 4.1.1單一直線路徑跟隨模擬--P42 5.1.2變換車道跟隨模擬--P49 4.1.3原車 道變換路徑跟隨--P52 4.2 操控動態控制DDC之模擬--P55 第五章 電腦運動模型--P71 5.1 電腦模型系統組件簡介--P71 5.2 全 車系統運動模擬參數設定--P73 5.2.1設定輸入參數--P74 5.2.2路面設定--P74 5.3 電腦模型之數值模擬--P77 第六章 結論--P82 參考文獻--P83
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