六輪車輛積極轉向系統之控制與分析

本研究首先建構與真實六輪車輛相近之數學模型，接著利用線性平方調整之最佳化控制方法，設計出六輪積極轉向系統控制策略，經由控制各輪轉角以同時達到零車身側滑角及追隨目標之偏轉角速度。不同軸距設計之車輛在等速過彎時有不同轉向行為，故本研究分別分析六輪轉向與六輪積極轉向系統之轉向行為，提出在不同軸距設計之車輛所適用的多輪轉向系統。最後利用電腦輔助設計分析軟體Adams/Car建立六輪車輛模型，將Adams六輪車模型結合Matlab/Simulink軟體進行步階轉向及變換車道的模擬與控制，並結合卡爾曼估測器估側車身側滑角，評估本研究之控制效果，驗證六輪積極轉向系統於等速過彎時，有效追隨目標之偏轉角速度，且同時能有效的抑制暫態車身側滑角的產生並讓穩態的車身側滑角更接近零。

關鍵字

多輪轉向系統；線性平方調整法；卡爾曼估測器； Adams

並列摘要

This research builds a mathematic model approaching real six-wheel vehicle. Linear quadratic regulator (LQR) technique is employed to control each wheel steering angle for six-wheel active steering system. Thus, both zero sideslip angle and target yaw rate following can be achieved simultaneously. In addition, different wheelbase vehicles in constant longitudinal speed have different cornering behaviors while turning. In this paper, we analyzed the cornering behaviors with six-wheel steering system and six-wheel active steering system and proposed a steering system of multi-axles fitting different wheelbase vehicles. Finally, six-wheel vehicles are built by using Adams/Car and simulated step steering and single lane change scenarios under Matlab/Simulink. Besides, Kalman filter is utilized to estimate sideslip angle as the control results to verify the system could track target yaw rate while turning in constant speed, restrain transient sideslip angle and approach zero slide angle in steady state.

並列關鍵字

Steering system of multi-axles ； LQR ； Kalman filter ； Adams

參考文獻

[14] 張祐祥，六輪車輛之操控性能分析，碩士論文，國立台北科技大學車輛工程研究所，2006。

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[7] H. Sakai and Y. Satoh, “The impact of roll center height on vehicle dynamic behavior,” JSAE Review, 1994.

[8] U. S. Chong, N. Eok, S. K. Sul, “Torque steering control of 4-wheel drive electric vehicle,” SAE 950316, 1995.

國際替代計量

六輪車輛積極轉向系統之控制與分析

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