Vehicle Lateral Stability by Wire Control System Hardware-In-the-Loop Integration Analysis 游鈞敦、張一屏
E-mail: [email protected]
ABSTRACT
The purpose of this study is to develop an appropriate vehicle yaw stability control system by using vehicle longitudinaland lateral dynamic simulation model. The system input of this study includes the steering wheel angle, vehicle speed change, and vehicle yaw rate to calculate the distribution of vehicle traction and braking force distribution so that the vehicle lateral stability control can be assured. This study established vehicle longitudinal and lateral dynamic simulation model from vehicle dynamics of longitudinal and lateral force, and vehicle design parameters. The object oriented simulation program Matlab/SimulinkR was used to analyze vehicle motion dynamic response. Simulation program can be used to predict the yaw rate response of vehicle when one side wheel slip happened. When the vehicle yaw rate is calculated, the proper locked and controlled Limited Slip Differential (LSD) mechanism and brake force applied to reduce the yaw motion of the vehicle. This study propose a compound traction force control method by using fuzzy logic controller to determine the proportion of longitudinal traction distribution out of LSD from vehicle wheel speed and yaw rate. Vehicle yaw stability control hardware-in-the loop simulation used CAN Bus as the By-Wire platform communication network.
Vehicle longitudinal and lateral dynamic simulation program established in this study integrated the CAN control interface card with xPC Target with vehicle sensors and actuators to analyze the vehicle yaw controlled response. This study developed vehicle stability control simulation and hardwires integration methodology which can be used to optimize vehicle controlled lateral stability states with shorter tuning period. This method can improve vehicle active safety, reliability and prevent vehicle instability accident, reduce research and development time of vehicle stability control system.
Keywords : Vehicle Lateral Stability Control, Traction Force Control, Controller Area Network, CAN Bus Hardware-in-the-Loop Table of Contents
博碩士論文暨電子檔案上網授權書 ...iii 中文摘要 ...iv 英文摘要
...v 誌謝 ...vii 目錄 ...viii 圖目錄 ...xii 表目錄 ...xxiii 符號說明 ...xxiv 第一 章 緒論 ...1 1.1前言 ...1 1.2文獻回顧 ...1 1.2.1 車輛縱向動力傳動建模分析 ...2 1.2.2 縱向打滑控制相關文獻 ...4 1.2.3 車輛穩定控制相關文獻 ...6 1.2.4 車輛橫向硬體迴路模擬技術相關文獻 ...7 1.3研究動機 ...11 1.4本 文架構 ...11 第二章 車輛傳動系統與模型建立 ...14 2.1引擎模型建立
...15 2.2引擎模型模擬測試 ...22 2.3乾式離合器模型模擬測試
...24 2.4引擎與乾式離合器接合模擬測試 ...27 第三章 車輛縱向打滑與橫擺模型建立
...47 3.1一般道路與非均質路面分析 ...47 3.2輪胎驅動與制動之路面關係 ...50 3.3 輪胎動態模型建立 ...55 3.4限滑差速器動態模型建立 ...56 3.4.1 縱向驅動力與車輛橫擺 關係 ...61 3.4.2 驅動輪打滑控制分析 ...67 3.5穩態轉向 ...73 3.6自行 車模型建立 ...78 3.7車輛穩定控制 ...107 第四章 線傳橫向硬體迴路設計規劃 ...121 4.1 CAN bus訊息格式 ...121 4.2線傳硬體迴路平台規格制定 ...122 4.3 硬體迴路設備架構 ...130 第五章 結果與討論 ...137 5.1引擎模型驗證
...139 5.2高速周迴道路 ...145 5.3綜合測試道路 ...163 5.4 縱向打滑控制分析 ...181 5.5橫向穩定模糊控制器分析 ...194 5.6橫向線傳硬體迴路建立 ...209 第六章 結論與建議 ...214 6.1結論 ...214 6.2建議事 項與未來研究項目 ...216 參考文獻 218
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