車輛轉彎側傾控制

A Study on the Bank-to-Turn Control Performance of the Vehicles

邱天威(Tien-Wei Chiu)

指導教授 ： 林志民

元智大學/電機通訊學院/電機工程學系/碩士(2009年)

摘要

本論文主要在探討由二輪自由度的自走車機構系統，在不同速度的狀況下，轉彎或換道時車輛所產生的重心側滑角及重心橫擺角度對車輛所造成的不穩定狀態。以基本前輪轉向(兩輪轉向)所造成的轉向不足、轉向適中、轉向過度的狀態及後輪正比於前輪轉向角的轉角比例(四輪轉向)狀態來探討系統中側滑角與橫擺角度的變化，進而利用角度上的變化，以模糊控制理論達到回饋控制的目的，最後使用具有二次型性能的最佳控制理論，以車輛轉向理想模型作為控制目標，採用基於前輪前饋和狀態反饋的控制策略，對汽車後輪轉向控制進行研究。並且利用MATLAB/SIMULINK軟體模擬分析車輛系統的控制效能。

關鍵字

四輪轉向 ； 模糊控制 ； 最佳控制 ； 車輛側滑角

並列摘要

This thesis mainly focuses on the study of the instability of vehicles caused by gravity center side-slip angle and gravity center yaw angle generated by the self-propelled mechanical system with two-wheel freedom when vehicles are changing lanes or turning at different speeds. The understeer, neutral steer and oversteer caused by the basic front-wheel steering (two-wheel steering) and the turning angle (four-wheel steering) of the rear wheel proportional to the steering angle of the front wheel are used to discuss the changes in the system side-slip angle and yaw angle. Then the angle changes with the fuzzy control theory to achieve the purpose of feedback control. Finally, the linear quadratic optimal control theory is used with the ideal vehicle steering model as the target to study the automobile rear-wheel steering control based on the control strategies of front-wheel feed-forward and status feedback. In the application, MATLAB/SIMULINK software is used to simulate discuss the control of the wheel system.

並列關鍵字

Four-wheel steering ； fuzzy control ； optimal control ； vehicle side slip

參考文獻

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