主動式機車頭燈控制與應用

Application and Control for an Adaptive Motorcycle Headlight System

林家鴻(Chia-Hon 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(2005年)

摘要

有鑑於機車在過彎時的照明死角與行駛中部分路況造成的照明不足之問題，為彌補在各種路況下的照明，本論文以主動式頭燈系統(AFS)為研究，發展出一套應用在機車上之主動式頭燈系統。本研究主要探討機車側傾轉彎或經過高低不平的路面時產生的照明不足之問題，並設計機車主動式頭燈系統以解決這些問題。本研究分別透過各式感測器來偵測路況及機車姿態之變化，作為系統之輸入訊號，再由機車幾何關係，推導出機車頭燈所須調整之角度變化量，並藉由控制器驅動馬達以調整頭燈之位置，以提供騎士更安全的照明視野，來達到主動式機車頭燈的功用。
本論文在系統設計部份分為模擬與實驗兩部份。模擬的部分是利用機車二輪車動態模型來推算出在機車俯仰或側傾時頭燈應動態調整的角度，並在此動態模型上設計PID控制器，模擬結果顯示此一系統對不同的路面狀況有良好之跟隨反應，可即時控制頭燈位置在所計算之位置。在實驗的部分，是藉由史都華六軸平台進行機車車身姿態改變之模擬，並裝置傾角計及角速度計以推算機車之車身姿態變化，藉以計算頭燈所須調整之角度並透過控制器驅動頭燈馬達，實驗結果顯示此一控制系統可針對車姿變化控制頭燈動態變化。

關鍵字

AFS ； 機車頭燈 ； 機車二輪動態模型 ； PID控制

並列摘要

Problems of insufficient illumination are usually happened when motorcycles runs in curved roads or in some driving situations. This research develops an Adaptive Frontlight System (AFS) for motorcycles to compensate these problems. This research mainly focuses on the insufficient illumination resulting from turning in curved roads or passing bumpy roads. In this research road conditions and body attitudes of motorcycles are detected by some sensors as input signals for the AFS system. The desired adjusting angles for motorcycle headlight are then derived from these signals and motorcycle geometry. Such an adjustable headlight system can provide more appropriate illumination for motorcycle drivers.
Simulation and experiments are performed in this research. In the simulation a motorcycle 2-wheel dynamic model is used to calculate the desired headlight adjusting angles for the pitching motion or rolling motion of a motorcycle. A PID controller is also designed for this system to ensure good dynamic responses. Simulation results show that the designed AFS system can have good dynamic performances under different road conditions. In the experiment, a Stewart platform is used to simulate the dynamic changes of motorcycle body attitudes. An inclinometer and a gyro sensor are installed on the Stewart platform to get the signals of pitching motion and rolling motion, respectively. These detected angles are fed into controller and used to derive headlight adjusting angles. The motorcycle headlight is then controlled by motor actuators according to these calculated adjusting angles. Experimental results show that the designed controller can appropriately control the motorcycle headlight under different motorcycle attitude changes.

並列關鍵字

AFS ； Motorcycle headlamp ； Half-car dynamic model ； PID Control

參考文獻

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