線控轉向系統動態分析之研究 張竣凱、張舜長
E-mail: [email protected]
摘 要
本文主要是在建立線控轉向系統動態模型，並根據所建立之動態模型，分析車輛轉向時，線控轉向系統對車輛轉向行為之 影響；在不同路面摩擦係數下，分析線控轉向系統車輛動態的穩定性，並使用Carsim軟體去模擬車輛的動態。線控轉向系 統是由馬達取代傳統轉向柱，當車輛轉彎時所需要的力都是由馬達提供；此時輪胎胎壓的變化、溫度的改變或是道路路面 有不規則的顛簸時會使車輛轉向不穩定。輪胎中心與側向力的距離tp(pneumatic trail)，也就是當車輛轉向時，輪胎的變形 量和是跟上述條件有密切關係的參數；車速（v）和路面摩擦係數（μ）是跟轉向有關；本研究利用靈敏度方程式
（Sensitivity Equations），來分析v、tp和μ對線控轉向系統車輛動態的側滑角（Slip angle）、偏擺角（Yaw rate）、輪胎轉 向角（Steering angle）和輪胎轉向角速度（Steering angle rate）的影響；並模擬v、tp和μ，在相同百分比的變化量下，對 線控轉向系統車輛動態的影響。
關鍵詞 : 線控轉向系統 ; 靈敏度方程式
目錄
目錄 封面內頁 簽名頁 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 vi 目錄 vii 圖目錄 ix 表目錄 xiv 符 號說明 xv 第一章 緒論 1.2 文獻回顧 2 1.3 研究目的及架構 3 第二章 車輛線控轉向系統動態數學模型 2.2 半車模型和全車模 型轉向系統 16 2.3 二輪半車線控轉向車輛動態穩定度分析 20 2.4 使用Carsim軟體模擬車輛動態 23 第三章 線控轉向系統參 數靈敏度之分析 3.1 二輪半車線控轉向系統靈敏度分析 25 3.2 四輪全車線控轉向系統靈敏度分析 29 3.3 半車線控轉向系統 參數靈敏度結果與討論 33 3.4 全車線控轉向系統參數靈敏度結果與討論 57 第四章 線控轉向系統動態模擬結果與討論 4.1 半車和全車線控轉向系統模擬結果與討論 82 4.2 在低摩擦路面下，μ、tp和v對車輛動態的影響 91 4.3 在高摩擦路面下，μ
、tp和v對車輛動態的影響 99 4.4 比較與討論μ、tp和v對車輛動態的影響 106 第五章 結論與建議 5.1 結論 109 5.2 建議事項 110 參考文獻 111
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