優化牽引力與循跡性能之自評煞車控制系統

Abstract

本研究針對線傳控制汽車發展一套自評煞車控制系統，目標是優化車輛的牽引力和循跡控制性能。該控制系統以雙啟發規劃法(dual heuristic dynamic programming)為基礎，搭配自組型徑向基底函數網路(radial basis function network)和梅基克式(Magic Formula)輪胎模型，達成用單一控制器整合防鎖控制、牽引力控制、煞車力分配和循跡控制的功能，使車輛能夠在自評過程中自動優化煞車控制器的性能。自評煞車控制系統具有自動追求優化的能力，能夠自動調整非線性控制器的參數，自組型徑向基底函數網路設有自動增減類神經元的訓練法則，可以自動組合最適用的網路結構。本研究完成自評煞車控制系統的各項設計，並且建立該控制器和汽車的整合模擬系統。藉由模擬系統檢驗自評煞車控制系統的性能表現，結果顯示在各種測試條件下，自評煞車控制系統都可以有效的達成優化車輛性能的目標。

This research develops an adaptive critic braking control system to optimize the traction and yaw control performance of by-wire braking cars. Underlying techniques are mainly the dual heuristic programming adaptive critic design, the self-organizing radial basis function network, and the Magic-Formula tire model. The adaptive critic braking control system is characterized by integrating the functions of antilock brake control, traction control, electronic brake-force distribution, and electronic stability program. The generalized growing-pruning mechanism of radial basis function networks and the adaptive critic design enable the system pursuing optimal performance. This thesis shows the detailed design of the adaptive critic braking control system. A simulation system involving an adaptive critic braking controller and a prototype car is developed. Simulation results show that, under variable test conditions, adaptive critic braking control system is significantly effective in optimizing traction and yaw performance.