前輪轉向與四輪轉向電動巴士之轉向操控性分析比較

A Comparison of Handling Analysis between Front-Wheel Steering and Four-Wheel Steering Electric Buses

李銘昱(Lee Ming-Yu)

指導教授 ： 黃馨慧 ； 張明彥

國立屏東科技大學/工學院/車輛工程系所/碩士(2022年)

https://doi.org/10.6346/NPUST202200303

摘要

四輪轉向(Four-Wheel Steering, 4WS)是一項先進的主動控制技術，低速行駛時能有效的減少車輛的迴轉半徑，高速行駛時則可以改善車輛的操控性及穩定性，但多數研究主要偏向四輪轉向的控制方法及曲線擬合，並未探討不同輪胎轉角時車輛的動態行為。
因此本文探討其不同輪胎轉向角比例對轉向操控性的影響，再運用Adams/Car軟體模擬車輛的動態行為，比較不同模式下的車輛參數(如：轉向不足梯度、橫擺率增益)，最後得到適合設計車輛之轉向配比為時速20km/h應使用逆相位後輪轉向角2度，時速30km/h至40km/h則使用逆相位後輪轉向角1度，時速50km/h使用前輪轉向模式，時速60km/h可使用同相位後輪轉向角1度，車輛會較為安全穩定。

關鍵字

四輪轉向 ； Adams/Car ； 定圓轉向分析 ； 轉向不足梯度 ； 橫擺率增益

並列摘要

Four-Wheel Steering system is an advanced technology by active control, it can efficiently reduce the turning radius at low speed, it also improves handling and stability at high speed, but most studies focus on the control method and curve fitting of Four-Wheel Steering, they do not discuss the vehicle's dynamic behavior at different tire turning angles.
This paper studies the handling influence through the different steering ratio, then simulates the vehicle dynamics on Adams/Car, that compare the vehicle parameters on the different modes. Finally, the best steering ratio for the designed vehicle is obtained, the rear wheel steer angle should use 2 degrees of opposite-phase in 20km/h, and it use 1 degree of opposite-phase in 30km/h to 40km/h, and it use front-wheel steering mode in 50km/h, then it use 1 degree of parallel-phase in 60km/h, the vehicle will be safer.

並列關鍵字

Four-Wheel Steering ； Adams/Car ； Constant Radius Cornering ； Understeer Gradient ； Yaw Rate Gain

參考文獻

[1]M. H. Magie, C. N. Winters, 1907, “Motor Vehicle,” United States Patent Office, United States of America.

[2]E. P. Cooper, 1908, “Drive and Steering Gear for Automobile Vehicles,” United States Patent Office, United States of America.

[3]J. M. Eadie, 1909, “Steering and Turning Device for Vehicle,” United States Patent Office, United States of America.

[4]Autoevolution，Mercedes-Benz W139機械式四輪轉向，圖片。檢自：https://www.autoevolution.com/cars/mercedes-benz-170-vl-w139-1936.html#agal_0

[5]Global Media Site，Mercedes-Benz G5(W152)機械式四輪轉向，圖片。檢自：https://media.daimler.com/marsMediaSite/en/instance/ko/The-Mercedes-Benz-G-5.xhtml?oid=9361305