窄型可傾式載具之轉向增強型直接傾斜控制器之模糊PID控制器設計

Fuzzy-PID Implementation of Steering Tilt Enhanced Direct Tilt Controller for a Narrow Tilting Vehicle

曾國瑋(Kuo-Wei Tseng)

指導教授 ： 林巍聳

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2016年)

https://doi.org/10.6342/NTU201601495

摘要

窄型載具可以增加道路面積使用率和減輕交通擁塞，但較大的載具高寬比使窄型載具很容易在進行轉向時朝外側翻覆，主動傾斜技術使載具能夠在轉向時把重心向內側移動，達到防止載具翻覆的目的，因此主動傾斜控制系統是窄型載具的實用設計。本論文提出的主動傾斜控制系統是直接傾斜控制與轉向傾斜控制的混合設計，低速轉向採用直接傾斜控制，高速轉向則採用轉向傾斜控制，混合設計的主要目標是安全和有效的轉向，並且降低直接傾斜控制力矩和減少轉向傾斜控制應用逆操舵機制所造成的軌跡反向偏移。此混合設計以模糊 PID 控制器架構實現，採用載具縱向速度和轉向半徑做為模糊系統的前件輸入，即時推理出當時轉向和車速所需的 PID 控制器參數，即時調整控制器參數使模糊 PID 控制器實現非線性控制器的特性，使載具能在任意縱向速度和轉向半徑下穩定的進行傾斜和轉向。經過多種車速和轉向半徑組合的電腦模擬驗證，結果顯示此混合設計能確保穩定的傾斜與轉向，並且達成改善逆操舵軌跡反向偏移現象和降低系統控制力矩的目標。

關鍵字

窄型可傾式載具 ； 直接傾斜控制 ； 轉向傾斜控制 ； 模糊PID控制器

並列摘要

Narrow Vehicle implementation can greatly relieve traffic congestion and improve roadway utilization. However, the greater height-to-width ratio may easily lead to tip off during a turn. Active tilt control aims at preventing from tip off by shifting the center of gravity of the vehicle to offset the tip-off moment. This thesis presents a hybrid design of steering tilt control and direct tilt control to implement the active tilt control concept.The hybrid design is in a sense of using steering tilt control during a high speed turn and using direct tilt control during a low speed turn. The objective is reducing both the toque exerting by direct tilt control and the deviation introduced by steering tilt control using counter-steer operation. The fuzzy PID controller which realizes the hybrid design receives vehicle’s longitudinal speed and turning radius as premise inputs. Then, in real-time manner it infers suitable values for the PID parameters. Simulation results of many scenarios show that the proposed hybrid design can deal with the nonlinear behaviors of the vehicle system to maintain vehicle’s directional and tilt stabilities, and robust against disturbances.

並列關鍵字

Narrow Tilting Vehicl ； ,Direct Tilt Control ； Steering Tilt Contro ； Fuzzy-PID Controller

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