汽車行駛動態模擬與實驗 陳宗文、陳志鏗
E-mail: [email protected]
摘 要
本研究推導一七自由度的車輛運動數學模型，其中包含車輛 縱向運動、側向運動、偏擺運動，以及四個輪子的滾動，探討 車 輛於煞車狀態下，輪胎作用力對車體動態之影響。 在所推導數學模式模擬方面，本文主要在探討車輛在煞車狀 態使用 煞車控制器之控制性能，並分別以滑差及輪速回授作為控 制指標設計控制器，在控制器設計過程中，利用潮濕路面及乾燥 路面測試控制器之控制性能，再針對控制效果不佳之區域對控制 器加以修正，期望可在不同路面下皆可有效縮短煞車時間 及煞車 本研究運用硬體模擬迴路之觀念，將輪速與控制器運算結果 利用CAN-bus 做資料之傳送與接收，並透過將所設計 之控制器與 實際煞車系統元件結合，測試控制器於硬體上實際之運作情形， 以減少模擬與實際之誤差。
關鍵詞 : 防鎖死煞車系統，煞車控制器，模糊控制，車輛行駛動態，硬體模擬迴路 目錄
第一章緒論...1 1.1 前言...1 1.2 文獻回
顧...3 1.3 研究動機與本文架構...7 第二章車輛動態數學模 型...10 2.1 系統數學模式建立...10 2.1.1 車體動態方程
式... ....11 2.1.2 車體動態系統整體數學模式... ...19 2.2 驅動及煞車狀態下 輪胎所受作用力... ...20 2.3 實驗驗證...31 2.3.1 油壓方程式建 立... ....31 2.3.2 煞車扭力模擬... ..32 第三章控制器設
計...36 3.1 模糊控制理論...36 3.1.1 PD type 模糊控制 器... ...40 3.2 煞車模糊控制器之設計... ...42 3.2.1 滑差控制器之設 計... ...43 3.2.2 輪速控制器之設計... ...47 第四章模擬結果與討 論...51 4.1 使用輪速控制器煞車性能探討... ...51 4.1.1 無防鎖死煞車控 制器作用之致動性能... ...51 4.1.2 使用輪速控制器之致動性能... ...54 4.2 使用滑差控 制器煞車性能探討... ...60 4.2.1 使用滑差控制器之致動性能... ...60 4.2.2 使用最 佳化滑差控制器之致動性能... ...68 4.3 車身穩定控制器控制性能... ...72 4.3.1 未 使用車身穩定控制器... ...72 4.3.2 使用車身穩定控制器... ...76 第五章硬體 迴路連結實驗...80 5.1 程式運作...81 5.1.1 實驗架
構...81 5.1.3 實驗儀器與設備... ....84 5.2 實驗控制流 程...85 5.2.1 硬體結合模擬... ..86 5.2.2 實驗結果分 析... ..89 第六章結論...103 參考文
獻...105 參考文獻
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