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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 鄭榮和 | |
dc.contributor.author | Wei-Te Yeh | en |
dc.contributor.author | 葉威德 | zh_TW |
dc.date.accessioned | 2021-06-17T08:34:20Z | - |
dc.date.available | 2019-08-16 | |
dc.date.copyright | 2019-08-16 | |
dc.date.issued | 2019 | |
dc.date.submitted | 2019-08-09 | |
dc.identifier.citation | [1].“Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles,” SAE International, 2018.
[2].外掛式線控煞車, https://www.youtube.com/watch?v=C0voLCFs4Ag. [3].L. Rudolf, 煞車系統設計與安全性(第二版), 科技圖書, 2004. [4].液壓煞車架構圖, http://www.mechanicalbooster.com/2018/08/what-is-hydraulic-braking-system.html. [5].氣壓煞車系統, https://www.quora.com/What-is-a-pneumatic-braking-system. [6].C. Maron, T. Dieckmann, S. Hauck, and H. Prinzler, “Electromechanical Brake System: Actuator Control Development System,” SAE Technical Paper 970814, 1997. [7].R. Schwarz, R. Isermann, J. Böhm, J. Nell, et al., “Clamping Force Estimation for a Brake-by-Wire Actuator,” SAE Technical Paper 1999-01-0482, 1999. [8].L-M. Ho, R. Roberts, H. Hartman, B. Gombert, “The Electronic Wedge Brake - EWB,” SAE Technical Paper 2006-01-3196, 2006. [9].J. Fox, R. Roberts, C. Baier-Welt, L-M. Ho, L. Lacraru, B. Gombert, “Modeling and Control of a Single Motor Electronic Wedge Brake,” SAE Technical paper, 2006. [10].J. S. Cheon, “Brake By Wire System Configuration and Functions using Front EWB (Electric Wedge Brake) and Rear EMB (Electro-Mechanical Brake) Actuators,” SAE International, 2010. [11].D. Nakata, E. Nakamura, T. Fukasawa, K. Ohya, “Development of the Spread Type Electrically Controlled Brake System for Hybrid Vehicle,” JSAE Technical Paper,117-20095631, 2009. [12].C. von Albrichsfeld and J. Karner, “Brake System for Hybrid and Electric Vehicles,” SAE Technical Paper 2009-01-1217, 2009. [13].N. D’alfio, et al., “Electro-hydraulic brake systems: design and test through hardware-in-the-loop simulation,” Vehicle System Dynamics 44(sup1): 378-392, 2006. [14].T. Oshima, et al., “Development of an Electrically Driven Intelligent Brake System,” SAE International Journal of Passenger Cars - Mechanical Systems, SAE International. 4: 399-405, 2011. [15].Z. Wang, et al., “Design Concepts of the Four-Wheel-Independent Electro-Hydraulic Braking System,” SAE International, 2014. [16].Z. Wang, et al., “Prototype of Distributed Electro-Hydraulic Braking System and its Fail-Safe Control Strategy,” SAE International, 2013. [17].S. B. Choi, et al., “Control performance of an electrorheological valve based vehicle anti-lock brake system, considering the braking force distribution,” Smart Materials and Structures 14(6): 1483-1492, 2005. [18].M. Ehsani, Y. Gao and A. Emadi, Modern Electric, Hybrid Electric, and Fuel Cell Vehicles: Fundamentals. Theory. and Design, Second Edition, USA: CRC Press, 2009, Chap. 2 [19].F. Wang and B. Zhuo, “Regenerative braking strategy for hybrid electric vehicles based on regenerative torque optimization control,” Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol. 222, no. 4, pp. 499–513, Apr. 2008. [20].Y. Lian, Y. Tian, L. Hu, and C. Yin, “A new braking force distribution strategy for electric vehicle based on regenerative braking strength continuity,” Journal of Central South University, vol. 20, no. 12, pp. 3481–3489, Dec. 2013. [21].D. Paul, E. Velenis and D. Cao, “Tire-road-friction-estimation-based braking force distribution for AWD electrified vehicles with a single electric machine,” 2015 International Conference on Sustainable Energy Engineering and Application (ICSEEA), pp. 82-87, 2015. [22].D. Paul, E. Velenis, D. Cao and T. Dobo, “Optimal mu-Estimation-Based Regenerative Braking Strategy for an AWD HEV,” in IEEE Transactions on Transportation Electrification, vol. 3, no. 1, pp. 249-258, March 2017. [23].J. Li, and J. Wang. “Research on the automotive EBD system based on fuzzy control,” 2010 2nd International Conference on Computer Engineering and Technology, 2010. [24].J. Ma, et al., “A New Method of Inertia Simulation in Brake Dynamometer Testing,” SAE International, 2008. [25].W. Loh, R. Basch, T. Dalka, and D. Hartsock, “Development of a Brake Dynamometer-Vehicle Model Hardware-in-the-Loop System,” SAE Technical Paper 2003-01-3337, 2003. [26].Z. Wang, L. Yu, C. You, Y. Wang, and J. Song, “Fail-safe control allocation for a distributed brake-by-wire system considering the driver’s behavior,” Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 228(13), 1547–1567, 2014. [27].Z. Weiqiang, et al., “Integrated HIL Test and Development System for Pneumatic ABS/EBS ECU of Commercial Vehicles,” SAE International, 2012. [28].D. G. Thomas, 車輛運動力學(新版), 科技圖書, 2008. [29].S. Wilfried, 汽車工程原理-專業篇, 科技圖書, 2002. [30].Z. Wei, J. Xu, and D. Halim, “Braking force control strategy for electric vehicles with load variation and wheel slip considerations,” in IET Electrical Systems in Transportation, vol. 7, no. 1, pp. 41-47, 2017. [31].H. Pacejka, Tire and Vehicle Dynamics. Elsevier, Oxford, UK, 2012. [32].Analysis of Brake Systems, http://www.fkm.utm.my/~arahim/MKMV2223%20%20Analysis%20of%20Brake%20System.pdf | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/74411 | - |
dc.description.abstract | 本研究目標為發展一套線控煞車系統(brake-by-wire system),應用於自主駕駛中小型電動巴士。本研究參考電子液壓式線控煞車設計,利用電子訊號控制前後車軸各一組的煞車致動器,並使整車的制動能力能滿足FMVSS 105與RREG的煞車法規。此外本研究結合車重估算以及前後適應性煞車力分配方法,可以依巴士在不同載客情況下,適當地分配前後輪的煞車力。減少煞車鎖死的機率,提升整車的制動能力。配合線控煞車系統的回授控制,能精確地產生目標減速度的煞車力,提升自動駕駛路徑行駛控制的準確性。
本研究由Matlab/Simulink建立線控煞車控制方法,搭配dSPACE ASM整車模型進行模型在環驗證(MiL),確保控制方法可行性與模型正確性。接著將控制方法燒錄於整車控制器dSPACE MicroAutoBox II,配合實際組裝後的線控煞車系統完成離線測試以及硬體在環驗證(HiL)。由測試結果展現本線控煞車系統能在0.5秒內快速產生及釋放煞車力,並能精準控制煞車油壓力道於2%誤差以內。在不同載客情況下,能精準計算前後輪煞車力道,減少自主駕駛策略控制煞車時的誤差,提升自駕巴士的安全性與操控性能。 | zh_TW |
dc.description.abstract | The purpose of this research is developing a brake-by-wire system for autonomous buses. This research refers to the design of electrical hydraulic braking system, controlling brake actuators by electrical signals communication. Let the braking ability satisfy FMVSS105 and RREG regulations. This brake-by-wire system combines bus weight estimation and adaptive braking forces distribution. Under any passengers carried conditions, the brake-by-wire system can adaptively adjusts proportion of front and rear braking forces. Which can reduce wheels locked probability and increase buses deceleration. By the system close-loop controller, it can generate the target deceleration braking forces, which can increase the accuracy of autonomous strategy.
The control method is established by Matlab/Simulink, combining the dSPACE ASM vehicle model to execute the Model-in-the-Loop. Through the experiment, we verify the accuracy and dynamic characteristic of the vehicle model. After finish MiL, we compile the control strategy with the vehicle controller MicroAutoBox II to conduct the off-line test and Hardware-in-the-Loop simulation. The test result shows that the brake-by-wire system can generate and release braking forces in 0.5 seconds, controlling the braking forces in 2% errors. Which can calculate front and rear braking forces exactly under any passengers carried conditions, reducing the error of autonomous strategy path control and increasing the safety and the maneuverability of autonomous buses. | en |
dc.description.provenance | Made available in DSpace on 2021-06-17T08:34:20Z (GMT). No. of bitstreams: 1 ntu-108-R06522517-1.pdf: 23950104 bytes, checksum: d784034b00d87002617c2e008a741c83 (MD5) Previous issue date: 2019 | en |
dc.description.tableofcontents | 致 謝 I
摘 要 II Abstract III 目錄 IV 圖目錄 VII 表目錄 XI 參數表 XII 第一章 緒論 1 1.1研究背景 1 1.2研究動機與目的 2 1.3研究方法與流程 3 1.4本文架構 6 第二章 文獻回顧 7 2.1煞車系統現況 7 2.2線控煞車設計文獻回顧 9 2.3煞車力分配方法文獻回顧 14 2.4煞車力HiL驗證文獻回顧 18 2.4.1煞車力測試方法 18 2.4.2煞車力HiL驗證 19 2.5煞車力分配方法HiL驗證文獻回顧 20 2.6小結 22 第三章 線控煞車系統設計 23 3.1線控煞車設計 23 3.1.1車輛規格 24 3.1.2煞車系統設計法規 25 3.1.2線控煞車設計架構 27 3.1.3煞車制動分配計算 28 3.2控制方法建立 33 3.2.1車重估算 34 3.2.2前後煞車力比例調整 35 3.2.3線控煞車控制方法小結 37 3.3線控煞車零組件規格計算與選配 38 3.3.1線控煞車零組件規格計算 38 3.3.2 零組件選配 41 3.4小結 42 第四章 模擬結果分析與探討 44 4.1車輛與環境模型建立 44 4.1.1 dSPACE軟體介紹 44 4.1.2 車輛模型建立 45 4.1.3 車輛模型初步驗證 46 4.1.4 車輛模型初步驗證小結 47 4.2模型在環驗證(Model-in-the-Loop, MiL) 48 4.2.1低摩擦路面上減速模擬 49 4.2.2 重心變化後低摩擦路面上減速模擬 54 4.2.3模型在環驗證小結 56 4.3控制器在環驗證(Controller-in-the-Loop, CiL) 57 4.3.1 重心變化後低摩擦路面上減速模擬 58 4.3.2 控制器在環驗證小結 60 4.4小結 60 第五章 離線測試與HiL驗證 62 5.1線控煞車次系統油壓控制測試 62 5.1.1 煞車硬體組裝與控制介紹 62 5.1.2煞車油壓力控制測試結果 63 5.1.3油壓控制測試小結 65 5.2鼓煞制動扭矩測試 66 5.2.1測試平台介紹 66 5.2.2鼓煞制動扭矩測試結果 67 5.2.3鼓煞制動扭矩測試小結 68 5.3 線控煞車制動能力模擬 69 5.3.1線控煞車制動能力模擬結果 70 5.3.2線控煞車制動能力模擬小結 72 5.4 硬體在環驗證(Hardware-in-the-Loop, HiL) 72 5.4.1適應性煞車力分配HiL測試 73 5.4.2煞車力HiL測試 76 5.5小結 85 第六章 總結與未來方向 86 6.1 研究總結 86 6.2 未來方向 87 參考文獻 89 | |
dc.language.iso | zh-TW | |
dc.title | 應用於自駕巴士之線控煞車設計與HiL測試驗證 | zh_TW |
dc.title | Design of the Brake-by-wire System for Autonomous Buses and HiL Validation | en |
dc.type | Thesis | |
dc.date.schoolyear | 107-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 劉霆,陳明彥 | |
dc.subject.keyword | 自駕巴士,線控煞車,煞車力計算,煞車力分配,HiL驗證, | zh_TW |
dc.subject.keyword | autonomous buses,brake-by-wire,braking forces calculation,braking forces distribution,Hardware-in-the-loop, | en |
dc.relation.page | 92 | |
dc.identifier.doi | 10.6342/NTU201902961 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2019-08-12 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
顯示於系所單位: | 機械工程學系 |
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