輕窄型汽車側傾控制之研究

輕窄型汽車兼具靈活、省能、與易於停車的優點，為目前全球個人載具之開發主流方向之一。由於車身窄重心高，該種車輛過彎時必須使車身側傾以避免翻覆，因此通常配備可側傾機構。因汽車之駕駛者坐姿與轉向操作方式與機車不同，無法以人力完成側傾，必須採用自動側傾控制系統。本研究主要開發該型車輛之自動側傾控制系統，利用一個動力馬達，經減速齒輪箱，驅動側傾機構來產生側傾運動。行駛中，駕駛者只需操作方向盤，控制器根據車輛動態資料決定適當的目標側傾角度，然後對側傾馬達進行驅動力控制，使車身以適當的側傾角度穩定過彎而沒有翻覆的危險。　　本研究從整車動力學之探討及底盤與側傾機構設計開始，以一部三輪小汽車為標的，進行可側傾三輪汽車之機構設計與動態模擬分析。經由探討側傾控制之需求與實務限制，提出一種適應性(Adaptive)自動側傾控制器。該控制器使用回饋控制搭配前饋控制，前饋控制是基於ARX模型且具備線上(on-line)參數調整功能，以便使車輛能因應不同負載與不同行駛條件之需求。研究項目包括整車動態分析與模擬、自動側傾控制策略設計、訊號處理與參數估測、實驗設備建置、與實車測試等。由模擬與實車道路測試結果顯示，本論文所提出的控制系統與控制器，於車輛轉彎狀態中，具備側傾控制系統之車輛可承受之臨界側向加速度為0.57g，相較於未側傾車輛所能承受0.25g，側傾行為能有效提高整車過彎時之臨界側向加速度，亦即提高整車之抗翻能力。關鍵字:可側傾汽車，自動側傾控制，適應性控制，線上參數估測。

關鍵字

可側傾汽車；自動側傾控制；適應性控制；線上參數估測

並列摘要

Narrow light vehicles (NLV) are expected to be a global trend of personal vehicle development because of its less energy consumption and pollutant emission, easily parking, and small dimension. But its slender nature takes high risk of rollover during tight cornering.Thus the NLV’s are commonly equipped with tilting mechanism to reduce the effect of lateral acceleration on turning maneuvering. Unlike the scooters, the seats as well as the handler wheel of the NLV are of the same type with regular passenger vehicle. Its tilting motion cannot be operated by the driver like in the scooter. Thus an automatic tilting control system is required for the NLV. This study is intended to develop an automatic tilting control system to drive the tilting mechanism of a prototype of electric three-wheeled NLV. The system includes a 3kw motor, a gear box, a DSP controller, and the associated sensors such as yaw rate sensor, tilt angle sensor, steering angle sensor, and lateral acceleration sensor. The purpose is to tilt the NLV automatically to a suitable target angle based on the amount of lateral acceleration to enhance its cornering ability. The study was proceeded firstly by performing numerical simulations on the three -wheeled NLV to investigate its dynamic characteristics. Then a self-tuning adaptive tilting control algorithm is proposed. The control law is consisted of a feedforward controller and a feedback controller, in which the control effort of the feedforward controller is calculated based on an ARX model with its parameters identified on-line to adapt with load variations of the NLV. Experiments on various drive cycle have been conducted to verify the performance of the control system. Experimental results showed that the proposed control system successfully enhance the cornering ability of the NLV, the lateral acceleration limit with tilting control cornering achieved up to 0.57g while the untilt cornering was only with 0.25g. Keywords:Tiltable vehicle, Automatic Tilt control System, adaptive control, On-line identification.

並列關鍵字

Tiltable vehicle ； Automatic Tilt control System ； adaptive control ； On-line identification

參考文獻

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輕窄型汽車側傾控制之研究

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