使用磁流變液煞車器之機車複合式防鎖死煞車系統

Hybrid Anti-Lock Braking System for Motorcycles Using Magnetorheological Brake

林哲偉(Jhe-Wei Lin)

指導教授 ： 蕭耀榮

國立臺北科技大學/機電學院/車輛工程系所/碩士(2013年)

https://doi.org/10.6841/NTUT.2013.00381

摘要

磁流變液(magneto - rheological fluid, MRF)是新型開發中的智慧型材料，隨著外加磁場改變，產生不同物理特性之剪應力，且其剪應力與磁場之關係近乎線性，過程可控、可逆、反應時間快等特性，廣泛用於制動系統以及阻尼系統中。
現今防鎖死煞車系統(Anti-Lock Braking System, ABS)最常見的控制方法是使用on-off控制閥，可藉由提高控制閥的開關頻率來提升煞車效能，但該方法受限於系統本身現有之油壓反應時間以及開關閥頻率；因此若現有系統可與反應時間較快的MR煞車系統結合，則可有效提升煞車效能以及穩定性。
本論文主要研究MR ABS煞車系統與複合式ABS煞車系統，並進行其動態模擬與分析。研究中使用車速估測器估側目前車速，並計算其機車滑差值，且利用路面估測器求得路面之最佳理想滑差值。ABS控制則利用模糊控制器與自組織模糊控制器兩種控制器設計ABS系統。而複合式ABS煞車系統是由油壓系統與MR煞車系統兩種系統結合而成，並配合機車動態分析軟體，進行MR ABS煞車系統與複合式ABS煞車系統之模擬分析。MR ABS模擬部分分為一般模糊控制器與自組織模糊控制器兩種ABS控制器，在ABS控制器部分的結果，自組織模糊控制器對路面的適應性較高，且煞車效能最多約能提升18%。複合式ABS煞車系統，則是分為固定油壓式、濾波式與開關閥式三種複合式煞車系統，由模擬結果可知，複合式ABS煞車系統整體煞車效能較傳統油壓ABS煞車系統約提升8%效能，未來可望將此系統運用於汽機車上。

關鍵字

磁流變液 ； 複合式煞車系統 ； 煞車防鎖死系統 ； 模糊控制 ； 自組織模糊控制 ； 路面狀況估測

並列摘要

Magneto - rheological fluid (MRF) is a new development of smart materials. It is studied and applied widely in the braking damping systems because of the controllable viscosity changes with applied magnetic field at almost linear relationship, reversible and fast response time and other characteristics.
Nowaday, control algorithm using in anti-lock braking system (ABS) is the same common method which is to use on-off control valve. The valve can be controlled by increasing the switching frequency to improve braking performance, but the method is limited by the system itself existing in hydraulic switching valve reaction time and frequency. Therefore, if an MR brake system with fast response time combines to a conventional braking system, It can effectively improve the braking performance and stability.
In this thesis, a hybrid ABS braking system using MR brake is proposed, Dynamic simulation and analysis were conducted. Speed estimator used in this study is continually estimated lateral speed which calculates vehicle slip values. Road Condition Estimation is used to obtain the best ideal slip value. ABS control using Self-Organizing Fuzzy controller with two kinds of fuzzy controller. The hybrid ABS brake system is composed of the hydraulic system and the MR brake system. The combination of the two systems was simulated and analyzed by dynamic analysis software for pure MR ABS braking system and hybrid ABS braking system using MR brake. The controller is divided into general fuzzy controller with two kinds of self-organizing fuzzy ABS controller. The results shows that self-organizing fuzzy controller provides high adaptability on the road while braking performance can be improved up to approximately 18%. Hybrid ABS systems using MR brake are divided into three types: fixed-oil -pressured hydraulic system, filter-typed system and switch-valve-typed system. The simulation results of those three systems show that the hybrid ABS system overall performance increased to about 8 % efficiency compared to conventional hydraulic ABS system. This system is expected to be applied for future vehicle.

並列關鍵字

Magneto-Rheological Fluid (MRF) ； Hybrid Anti-Lock Braking System (ABS) ； fuzzy control

參考文獻

1. 蕭耀榮、郭文化、許綱倫，「機車磁流變液防鎖死煞車系統之分析與控制」，第14屆車輛工程學術研討會，雲林， 2009。

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3. W. H. Li and H. Du,“Design and Experimental Evaluation of a Magnetorheological Brake,” International Journal of Advanced Manufacturing Technology, 2003.

4. 蕭耀榮、張正暘，「新型磁流變液煞車器之設計與效能分析」，第34屆全國力學會議，雲林，2010。

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