The Study and Experiment of Vehicle Stability Control for Brake by Wire System 謝森雄、陳志鏗
E-mail: [email protected]
ABSTRACT
This thesis is to develop a vehicle dynamic control system in passenger car using the brake-by-wire system and to build a vehicle model for the experimental car (Ford Focus) in CARSIM RT, in order to analyze the tire interference of the car when it is out of control. In this study, we carry out hardware-in-the-loop (HIL) experiments. At first, we measure the environment data by CARSIM RT, and then send them to the VDC Controller to generate the braking control signals. The braking control signals are later sent to the brake-by-wire system via the CAN BUS. After controlling the Brake-by-Wire system, the brake pressure response is measured and sent to CARSIM RT. In this study, we develop the VDC Controller used to control the brake pressure in Simulink. By using the genetic algorithm (GA), we can find the optimal membership functions of the fuzzy controller. After developing the VDC Controller, it is connected to CARSIM RT and SBC braking control system for doing the experiment of HIL to verify the stability of the VDC Controller.
Keywords : Brake controller ; Fuzzy control ; Vehicle dynamic control ; Hardware in the Loop Table of Contents
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... xiii 符號說明... xiv 第一章 緒論... 1 1.1前
言... 1 1.2 文獻回顧... 2 1.3 研究動機與本文架構... 7 第二章 SBC電子感 應煞車系統介紹... 9 2.1 前言... 9 2.1.1 傳統煞車系統與線傳煞車系統差異性... 10 2.1.2 SBC系 統比傳統煞車系統有以下優點... 12 2.2 SBC系統油路功能... 12 2.3 SBC 煞車功能介紹... 18 2.4 SBC系統元件介紹... 20 第三章 VDC控制器設計... 26 3.1 模糊控制理論與基因演算
法(GA)... 26 3.2 車輛動態控制器之設計... 33 3.3 模擬結果... 48 3.3.1 開迴路Sine with Dwell 方向盤角度控制.... 50 3.3.2 CASE 2 車道變換之高低摩擦路面的切換... 54 3.3.3 CASE 3 彎道路面積水... 59 第四章 SBC實驗平台設計與實作... 64 4.1 實驗架構... 64 4.2 實驗儀器設備... 65 4.3 實驗控制流程... 74 4.4 SBC煞車試驗平台... 76 4.5 SBC系統油路測試... 77 4.5.1 閥門開迴路測試... 77 第五章 SBC與VDC硬體迴路模擬實驗... 81 5.1 SBC系統結合VDC控制 器... 81 5.1.1開迴路Sine with Dwell 方向盤角度控制... 81 5.1.2 CASE2 車道變換之高低摩擦路面的切換... 85 5.1.3 CASE 3 彎道路面積水... 89 第六章 結論... 94 參考文獻... 96 附 錄... 99 FOCUS實車CAN BUS訊號擷取與解碼... 99 實驗架構圖... 99 REFERENCES
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