本研究藉由現有前二後一之三輪側傾機車設計一防側傾裝置，使騎士在轉彎回正時提供輔助力，減輕騎士操作負擔。透過參考車種規劃出機構設計空間，參考Scotch Yoke概念設計一防側傾裝置，並以油壓缸作為機構出力的致動器，應用摩托車動力學計算機車過彎及傾倒所需扭矩，計算出機構所需出力以選出適合的油壓缸，機車回正時機由側傾角與側傾角加速度作為判斷來控制機構出力時間，最後進行Simpack路線模擬驗證。Simpack分析模型與實際車輛重心位置比對差異1%以下確認結構性質一致，最後進行動態模擬路線驗證，其結果顯示於高速時可有效降低轉向扭矩，且能提高轉向時的靈敏性。

In the objective of this study, an anti-tilting device was designed by the existing three-wheeled tiltable motorcycle with two front wheels and one rear wheel, which enables the rider to provide assistance force when returning to the vertical position after a turning to reduce the rider's operating burden. Plan the mechanism design space by referring to the vehicle type, design an anti-tilting mechanism with reference to the Scotch Yoke concept, and use a hydraulic cylinder as the actuator of the mechanism. Using motorcycle dynamics to calculate the required torque, than we calculate the output of the mechanism for select a suitable hydraulic cylinder. The roll angle and roll acceleration of the motorcycle are used as judgments to control the actuation time of the mechanism. Finally, simulate and verify the result by Simpack. The difference between the Simpack analysis model and the actual vehicle's center of gravity position is less than 1% that confirmed the structural properties are consistent. The results show that the steering torque can be effectively reduced at high speeds and the steering sensitivity can be improved.

[1] Marcacci, M.，2011，「車輛用防搖擺裝置」，中華民國專利號碼: I346055。
[2] 簡金品，彭毓瑩，張智崇，高天和，2011，「防傾倒裝置及使用該裝置之可傾車輛之車架結構」，中華民國專利號碼: I342839 。
[3] Marabese, R.,and Moroni, M.，2016，「具有三個或多於三個傾斜輪的車輛的傾斜系統的電子制動裝置」，中華民國專利號碼: I652197 。
[4] 丁信志，李炎修，黃碧松，2019，「具有防傾斜鎖定功能的車輛」，中華民國專利號碼: I615311 。
[5] Shibuya, Yu，Nakamura, Kazuo.，2011，「傾斜車輛」，中華民國專利號碼: I721334。
[6] 楊純賓，許偉倫，溫士賢，2019，「立車穩定及傾斜輔助之具體架構」，中華民國專利號碼: I649222 。
[7] 黃惠輝，林俊吉，2012，「機車前二輪傾斜轉向與懸吊裝置」，中華民國專利號碼: M441617 。
[8] 楊哲東，2014，“具備斜坡補償能力之多輪可側傾機車鎖定系統”，碩士論文，國立屏東科技大學車輛工程系，屏東，台灣。
[9] S. Kidane , L. Alexander , R. Rajamani , P. Starr & M. Donath, 2008 , “A fundamental investigation of tilt control systems for narrow commuter vehicles,”Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility.
[10] S. Kidane, R. Rajamani, L. Alexander, P. Starr, and M. Donath, 2007 , “Experimental Investigation of a Narrow Leaning Vehicle Tilt Stability Control System,” Proceedings of the 2007 American Control Conference
[11] 邱琦峰，2014，“輕窄型汽車側傾控制之研究”，碩士論文，國立屏東科技大學車輛工程系，屏東，台灣。
[12] 陳肇隆，2020，“三輪側傾機車之轉向機構設計”，碩士論文，國立屏東科技大學車輛工程系，屏東，台灣。
[13] 張超群、劉成群，2019，摩托車動力學，臺灣臺北，五南圖書。
[14] Vittore Cossalter, 2006, Motorcycle Dynamics, Padova Italia, LULU
[15] 簡上軒，2015，“輕窄型車輛轉向側傾控制之研究”，碩士論文，國立屏東科技大學車輛工程系，屏東，台灣。
[16] 廖益圍，2013，“可側傾三輪機車之研究”，碩士論文，國立屏東科技大學車輛工程系，屏東，台灣。
[17] R. Rajamani , J. Gohl , L. Alexander , P. Starr, 2003 , “Dynamics of Narrow Tilting Vehicles,” Mathematical and Computer Modelling of Dynamical Systems, Vol. 9, No. 2, pp. 209–231.
[18] Samuel Kidane, 2010,“Development and Experimental Evaluation of a Tilt Stability Control System for Narrow Commuter Vehicles,”IEEE Transactions on Control Systems Technology.
[19] Moto7，Aeon 3D 350圖片，檢自: https://www.moto7.net/2016/03/aeon-3d-350-hydraulic-tilting-system-hts.html(20210522)
[20] Hydraulics & Pneumatics，Scotch yoke圖片，檢自: https://www.hydraulicspneumatics.com/fluid-power-basics/motors-actuators/article/21882753/engineering-essentials-rotary-actuators (20210522)
[21] Qtrco，Scotch yoke圖片，檢自:
http://www.qtrco.com/f-series-flatyoke-valve-actuators.html (20210522)