車輛比例液壓煞車作動器開發與機車防鎖死煞車系統控制之研究

Development of Vehicle Proportional Hydraulic Brake Actuator and Control of Anti-lock Braking System for the Motorcycle

陳哲斌(Che-Pin CHEN)

指導教授 ： 江茂雄

共同指導教授 ： 陳義男

國立臺灣大學/工學院/工程科學及海洋工程學研究所/博士(2018年)

https://doi.org/10.6342/NTU201802047

摘要

隨著機車產業不斷發展，其高速行駛時安全性問題也越來受到重視。機車若加裝防鎖死煞車系統(ABS)可自動調整煞車力的大小，防止車輪鎖死，得到最好的煞車效果，並能確保操縱穩定性。ABS實際由電液煞車組(EHB)來控制煞車力，而EHB內部的控制閥，本文改採用比例壓力控制閥，有別於一般使用電磁閥，目的為進行精準煞車力控制及避免管路油壓震盪情形。
首先，本文開發用於汽、機車液壓煞車作動器之比例壓力控制閥，完成比例閥比例電磁鐵之電磁作用力分析與模擬，以及實測驗證比例電磁鐵推力與搭配比例閥單體之洩壓性能。基於高控制性和易製性考量，設計出小體積大推力之比例電磁鐵，作為比例閥壓力與流量控制之驅動源。
本文採用MATLAB/Simulink軟體建立完整的機車ABS模擬模型，其中包括比例電液煞車組(PEHB)模型、機車運動模型、輪胎模式及Bang-Bang、PID與模糊滑動等控制器模型。從模擬結果顯示此致動器具有穩定調整洩壓控制功能，且控制線性度與重複性佳，故可應用於ABS進行滑差控制。從完整的機車ABS模擬模型中，進行EHB與PEHB在不同路面煞車時車速、輪速、滑差及煞車力模擬與分析，經模擬結果顯示，PEHB進行滑差控制時可更穩定、迅速及精準達到目標值，並有效縮短煞車距離。
最後，進行機車PEHB系統開路及硬體迴路測試，開路測試命令主要以步階、三角波及弦波命令為主，確認反應時間、線性度與跟隨狀態；硬體迴路測試時，PEHB硬體採用PID(Bang-Bang)及模糊滑動控制器進行滑差迴授測試。研究結果顯示比例壓力控制閥可作為煞車系統煞車力控制閥，以協助ABS進行更精準滑差控制，滿足機車行駛安全之目的。

關鍵字

防鎖死煞車系統 ； 比例電液煞車組 ； 比例壓力控制閥 ； 滑差控制 ； 硬體迴路

並列摘要

In the motorcycle industry, the safety of motorcycles operating at high speeds has drawn increasing attention. If a motorcycle is equipped with an anti-lock braking system (ABS), it can automatically adjust the brake force to prevent the wheels from locking for achieving optimal braking effect and ensuring operation stability. In an ABS, the brake force is controlled by an electro-hydraulic brake (EHB). The control valve of EHB was fitted with a proportional pressure valve in this study, which differed from the general use of a solenoid valve in order to precisely control the brake force and prevent hydraulic pressure oscillation in the pipes.
This research developed a novel proportional pressure control valve of hydraulic braking actuators for an automobile and a motorcycle. The simulation analysis of solenoid driving force of the pressure control valves is implemented, and the pressure relief capability test of electromagnetic thrust with the proportional valve body is verified. Considering the high controllability and ease of production, the solenooid of this proportional valve was designed with a small volume and higher driving force to adjust the braking pressure and flow.
Next, this study used MATLAB/Simulink to develop the overall motorcycle ABS simulation model, including a proportional electro-hydraulic brake (PEHB), motorcycle motion, tire, and controller models of bang-bang, PID, and fuzzy sliding-mode. The simulation results showed that this actuator had achieved a stable adjustment of depressurization control as well as satisfactory linear precision and repeatability. Therefore, it can be applied to the ABS for slip control. Additionally, an overall motorcycle ABS simulation model was established and perfomed for simulation and analyse of the wheel speed, slip, and brake force of the EHB and PEHB on different road surfaces during braking. According to the simulation results, it was demonstrated that the PEHB canreach more satisfactory stability and response during braking for slip control and effectively reduce braking distance.
Finally, the open-loop and Hardware in the Loop (HIL) testing of the PEHB system of motorcycle were performed. The open-loop test commands confirmed the response time, tracking performance and linearity. Subsequently, In the HIL testing, PID (Bang-Bang) and fuzzy sliding-mode controller were used for slip control test in PEHB. The test results demonstrated that the proportional pressure control valve can perform wellin EHB systemto make the ABS achieve more precise slip control and improve motorcycle safety.

並列關鍵字

Anti-Lock Braking System ； Proportional Electro-Hydraulic Brake ； Proportional Pressure Control Valve ； Slip Control ； Hardware in the Loop

參考文獻

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