車輛線傳橫向穩定控制系統之整合硬體迴路分析研究 游鈞敦、張一屏
E-mail: [email protected]
摘 要
本研究主旨為車輛橫向穩定控制之研究，建立車輛縱向與橫向動態模擬系統。針對橫向穩定控制進行研究分析，依據方向 盤轉角與車速變化，進行車輛橫向穩定模擬控制。 研究方法建構車輛縱向與橫向動態模型，包括縱向驅動力、牽引力控制
、轉向操控穩定控制、輪胎動態模型、橫擺模型等。研究以物件導向模擬軟體建立分析車輛運動變化，運用儀器擷取實車 引擎轉速及車速相關行車資料，進行車輛動力傳動與橫向操控性能，比較驗證及分析動態模擬系統。整合之車輛橫向動態 操控分析包括建立自行車穩態模型與暫態響應模型，進行車輛操控穩定研究，可計算車輛穩定性能輸出如側向加速度與橫 擺之動態響應。研究建立之複合式牽引力控制，以車身橫擺率及驅動輪轉速差，利用模糊邏輯控制限滑差速器鎖定機構，
降低車輪打滑及橫擺產生。車輛操控穩定控制模擬，以橫擺率及側向加速度變化，控制四輪獨立煞車壓力，分析控制參數 對橫擺與側向速度影響。 車輛縱向與橫向動態模型藉由線傳硬體迴路模擬技術，透過電腦與控制介面卡，將車輛動態模型 結合即時目標模擬器。發展車輛橫向模擬與硬體整合方法，縮短車輛穩定控制系統研發過程。提升車輛穩定控制系統研發 時間，增進車輛主動安全迴避與預防控制技術，降低車輛事故發生。
關鍵詞 : 車輛橫向穩定控制，複合式牽引力控制，線傳硬體迴路 目錄
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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