輕軌車主動式懸吊控制系統研究

本研究主要是設計一適應性滑動控制器於輕軌車主動式懸吊系統上。輕軌車整體是三個車箱的多自由度動態模型。此系統之未知參數是由有限項正交級數來近似，正交級數是由正交基底與未知係數向量所組成。本文應用滑動模式控制(Sliding Mode Control)法則設計控制器。再以Lyapunov法證明其閉迴路穩定性，並求得更新律的未知係數及控制參數的範圍。主要目的是針對乘客舒適性作探討，由模擬的結果得知，主動式懸吊系統的垂直加速度明顯比被動式懸吊系統降低許多，可增進車輛行駛的安定性及乘客舒適性。

關鍵字

主動式懸吊系統；適應性滑動控制器；函數近似法；滑動控制

並列摘要

This paper investigates the use of an adaptive sliding controller for light rail vehicle active suspension system. A multi-body dynamics of a three-car train is established. This paper applies sliding mode control method to design the system controller. The function approximation technique is employed to represent the unknown parameter as a finite combination of basis function. The Lyapunov method can be used to find update law for unknown coefficient and control parameter range and to prove stability of the closed loop system. This paper proposes research of passenger ride comfort. Computer simulation results show that system reduces bouncing acceleration compared with the passive suspension system and improves vehicle drive ride quality.

並列關鍵字

active suspension system ； adaptive sliding controller ； approxiation function technique ； sliding control

參考文獻

[33] 鈦思科技股份有限公司，視覺化建模環境-Simulink入門與進階，民國90年。

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[2] Krtolica, R. and Hrovat, D., "Optimal active suspension control based on a half-car model, " Decision and Control, Proceedings of the 29th IEEE Conference on 5-7, vol. 4, Dec. 1990, pp. 2238 – 2243.

[5] Alleyne, A., and Hedrick, J. K., "Nonlinear Adaptive Control Active Suspens- ions, " IEEE transactions on control systems technology ,vol. 3, no. 1, march 1995, pp. 94-101.

[6] Yousef, A. A., "Adaptive Control for Vehicle Active Suspension System," proceedings of the American Control Conference Seattle, vol. 2, June 1995, pp.1183 – 1185.

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輕軌車主動式懸吊控制系統研究

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