以步進馬達驅動之適路性頭燈電子控制器設計與實驗驗證

近年來人們對行車安全的要求日益提升，由於夜間視線不良，因此改良車燈以提高夜間行車的安全就開始受到重視，也因此適路性頭燈的裝設也愈來愈多。本論文主要是探討適用步進馬達驅動適路性頭燈的可行性，控制上是利用車身姿態的估測來計算出頭燈需要轉動的位置。研究中採用卡爾曼濾波器來估測車身動態，搭配PID控制器來控制步進馬達的轉速，讓頭燈能維持投射方向的穩定。本研究使用史都華平台來模擬車輛在行駛中的姿態，在平台上加裝了實驗所需要的步進驅動馬達、動態感測器及頭燈轉動機構，以模擬車身的晃動，並觀察頭燈光束投射的位置。實驗結果顯示，以步進馬達驅動的適路性頭燈系統，能夠在車身晃動的情況下，有效地將頭燈光束穩定在一定的範圍內。

關鍵字

適路性頭燈；步進馬達

並列摘要

In recent years, driving safety has attracted more and more attentions. Because of poor visibility at night, improvement of head light system to promote driving safety at night becomes one of the important topics in vehicle engineering. More and more cars equip adaptive front-light systems. This research studies the effectiveness of AFS driven by step motors. With the estimation of vehicle body posture, the angles of front light to be adjusted can be calculated. A Kalman filter is employed to estimate the vehicle body dynamics. A PID controller is used to control the rotating speeds of step motors such that the projecting direction of head light can be stabilized. In this study, two step motors, various sensors and head light rotating mechanism are installed on a Stewart platform to simulate body vibrations when a vehicle is running. The projecting direction of head light can be visualized so that the effectiveness of the AFS control system can be proved. The experimental results show that the proposed AFS driven by step motors can be stabilized when the vehicle vibrates.