應用適應性模糊滑動模式控制於個人移動載具之傾車控制

Tilting Control of Personal Mobile Vehicle using Adaptive Fuzzy Sliding Mode Control

周松豪(Shong-How Zhou)

指導教授 ： 陳柏全

國立臺北科技大學/機電學院/車輛工程系所/碩士(2009年)

https://doi.org/10.6841/NTUT.2009.00534

摘要

本文探討的個人移動載具為三輪電動車，在轉向行駛時傾車控制可推動車身至所需方向，但傾角若未達所需角度時則需耗費更多傾車扭力，其角度的補償可使車輛迅速達到所需角度並降低其傾車功率的消耗。本文採用AutoSimTM編輯語言建立包含史蒂芬生六連桿傾車機構的非線性六自由度車輛動態模型，並利用適應性模糊滑動模式控制來發展傾車控制策略。此外，並提出一角度補償器，當車輛進入彎道時進行車輛傾角的補償，在暫態時降低馬達所需提供的傾車扭力，於穩態時達到傾車扭力零輸出。經由初步模擬測試結果發現，本文所提之角度補償器可有效降低傾車扭力的需求及減少功率的消耗。

關鍵字

傾車控制 ； 個人移動載具 ； 適應性模糊滑動模式控制 ； 角度補償

並列摘要

The personal mobile vehicle discussed in this paper is a three-wheeled electric vehicle that can tilt utilize Stepheson six-bar tilting mechanism. Tilting control can tilt the vehicle to desire direction, it will expend more tilting torque when vehicle not achieve appropriate tilting angle. In order to reduce tilting power, angle compensator is proposed in this paper. AutoSim is used to establish the nonlinear full car model with the Stephenson six-bar tilting mechanism. We proposed a tilting control strategy using adaptive fuzzy sliding mode control. An innovative angle compensator is used to compensate the desired tilting angle such that the vehicle can be tilted to the correct angle with zero tilting torque at steady-state response, and reduce the tilting torque during transient maneuvers. Preliminary simulation results showed effective reduction of the tilting torque.

並列關鍵字

tilting control ； personal mobile vehicle ； adaptive fuzzy sliding modelcontrol ； angle compensation

參考文獻

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