應用路面狀況估測於防鎖死煞車系統之研發

Research and Development of Anti-lock Brake System using Road Condition Estimation

朱奕蒼(Yi-Tsang Chu)

指導教授 ： 陳柏全

國立臺北科技大學/機電學院/車輛工程系所/碩士(2012年)

https://doi.org/10.6841/NTUT.2012.00003

摘要

本文應用路面狀況估測設計防鎖死煞車控制系統，首先，利用正向力估測器與煞車力估測，進行路面摩擦係數的估測。接著根據路面摩擦係數及輪胎滑差，利用路面狀況估測器，得知此路面的目標滑差。最後將目標滑差控制轉換為輪速控制，根據輪速的誤差，同時利用前饋與回饋控制，調節煞車壓力。模擬結果顯示，本文所提出的防鎖死煞車控制策略能偵測路面摩擦係數的變動，將輪胎滑差維持在穩定的區域。與傳統控制相比，除了可提升在低摩擦係數路面的煞車性能，並可有效降低煞停時間。

關鍵字

防鎖死煞車控制系統 ； 路面狀況 ； 目標滑差 ； 輪速控制

並列摘要

Road condition estimation is used to design anti-lock brake system in this paper. First, normal force estimator and braking force estimator are used to obtain the estimation of the road friction coefficient. According to the estimated road friction coefficient and tire slip ratio, road condition estimator is used to obtain the target slip ratio. The target slip ratio control is then transformed into wheel speed control. Feedforward and feedback control are used simultaneously to adjust the braking pressure according to the wheel speed error. Simulation results showed that the proposed algorithm can detect the change and road friction coefficient and maintain the slip ratio in the stable region. Comparing to the conventional slip ration control, not only the braking performance on the low friction road surface is enhanced, but also the stopping time is effectively reduced.

並列關鍵字

anti-lock brake system ； road condition ； target slip ratio ； wheel speed control

參考文獻

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[38] 施昌瑋，應用多物體追蹤於前方防撞警示系統之設計，碩士論文，國立台北科技大學車輛工程學系，台北，2010。

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