Simulation and Experiment for Vehicle Driving Dynamics 陳宗文、陳志鏗
E-mail: [email protected]
ABSTRACT
The thesis is to investigate the vehicle dynamic affected by the ABS system in a passenger car. We develop the equations of motion of the car with seven degrees of freedom including the longitudinal, lateral, yaw motion, and rotational motions of four wheels. The tire-ground forces are also considered in the model to evaluate the performance of the ABS system at different road conditions. The simulation investigates the ability of the braking controller. Two controllers are designed with the feedback of slip ratio and wheel angular velocity, respectively. They are tested on dry and wet road surface to evaluate the control performance. Then we adjust the Fuzzy controller to shorten the braking distance and time on various road surfaces. The experimental studies that use hardware in the loop simulation and combine the ABS hardware and the vehicle dynamics simulator are also investigated for comparison.
Keywords : ABS(Anti-lock Braking System), braking controller, Fuzzy control, vehicle dynamics, Hardware in the loop Table of Contents
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
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