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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 蘇偉儁 | zh_TW |
| dc.contributor.advisor | Wei-Jiun Su | en |
| dc.contributor.author | 林宗昱 | zh_TW |
| dc.contributor.author | Tsung-Yu Lin | en |
| dc.date.accessioned | 2024-08-08T16:23:51Z | - |
| dc.date.available | 2024-08-09 | - |
| dc.date.copyright | 2024-08-08 | - |
| dc.date.issued | 2024 | - |
| dc.date.submitted | 2024-08-02 | - |
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Proposed FMVSS No. 126 electronic stability control systems, NHTSA, Washington, DC, USA, 2007. [Online]. Available: https://www.nhtsa.gov/sites/nhtsa.gov/files/fmvss/ESC_FRIA_%252003_2007.pdf ISO 7401:2011, I.S.O(ISO), 2011. [Online]. Available: https://www.iso.org/standard/54144.html | - |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/93821 | - |
| dc.description.abstract | 本研究主要針對四輪轉向車輛的橫向操縱與穩定性控制進行開發，並基於積分線性二次調節器(LQR with Integral Action, LQRI)設計控制器，以提升橫擺角速度的追蹤性能，並有效限制車身側滑角。首先，上層控制器透過傳統零側滑角方法計算出前輪與後輪轉向角的比例關係，再藉由線性二自由度單軌模型設計LQRI控制器，以計算所需的額外後輪轉向角及橫擺力矩之參考命令。下層控制則透過阿克曼轉向幾何和四輪獨立煞車系統，將上層控制器的控制命令分配至各輪，其中煞車力分配考慮到輪胎摩擦圓的限制，以避免輪胎力飽和，從而防止輪胎鎖死。最後，在MATLAB/Simulink環境中建立本研究提出的控制策略，並結合CarSim車輛模擬軟體進行模型在環(Model-in-the-Loop, MiL)驗證。模擬結果顯示，本研究所開發的控制策略能夠在激烈操控下有效改善車輛的操控性及穩定性，且轉向角與煞車壓力的利用率較低，進而減少能量消耗。此外，在車輛穩態時，有效減少橫擺角速度的誤差。 | zh_TW |
| dc.description.abstract | This research focuses on the lateral control and stability of four-wheel steering (4WS) vehicles, developing a control strategy based on Linear Quadratic Regulator with Integral Action (LQRI) to enhance the tracking performance of yaw rate and effectively limit the vehicle's sideslip angle. Initially, the upper-level controller calculates the proportional relationship between front and rear wheel steering angles using traditional zero sideslip angle methods. Subsequently, employing a linear two-degree-of-freedom single-track model, the LQRI controller computes reference commands for additional rear wheel steering angle and yaw moment. The lower-level control utilizes Ackermann steering geometry and four-wheel independent brake system (4WIB) to distribute commands from the upper-level controller to each wheel, with brake force distribution considering tire friction circle limits to prevent tire saturation and locking. Finally, the proposed control strategy is implemented in MATLAB/Simulink and validated through Model-in-the-Loop (MiL) simulations using CarSim vehicle simulation software. Simulation results demonstrate that the developed control strategy effectively improves vehicle handling and stability under aggressive maneuvers, with lower utilization of steering angles and brake pressures, thereby reducing energy consumption. Additionally, it effectively reduces yaw rate error during steady-state conditions. | en |
| dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2024-08-08T16:23:51Z No. of bitstreams: 0 | en |
| dc.description.provenance | Made available in DSpace on 2024-08-08T16:23:51Z (GMT). No. of bitstreams: 0 | en |
| dc.description.tableofcontents | 口試委員會審定書 i
誌謝 ii 中文摘要 iii ABSTRACT iv 目次 v 圖次 viii 表次 xii 符號表 xiii 縮寫表 xvi Chapter 1 緒論 1 1.1 研究背景與動機 1 1.2 文獻回顧 4 1.3 研究目的 9 1.4 論文架構 10 Chapter 2 系統動態模型 11 2.1 輪胎滾動動態模型 11 2.2 輪胎模型 12 2.2.1 輪胎座標系統 12 2.2.2 合成滑差輪胎模型 13 2.3 車輛模型 18 2.3.1 車輛座標系統 18 2.3.2 2-DOF車輛模型 19 2.3.2.1 雙軌模型 19 2.3.2.2 簡化單軌模型 20 Chapter 3 估測器建立 23 3.1 車速估測器 23 3.2 車身側滑角估測器 25 3.3 輪胎力估測 27 3.3.1 正向力估測器 28 3.3.2 縱向力估測器 28 3.3.3 側向力估測器 30 3.4 路面摩擦係數估測器 31 3.5 轉向剛性識別 33 Chapter 4 控制策略 36 4.1 上層控制器 36 4.1.1 四輪轉向模式 36 4.1.2 控制器參考模型 39 4.1.3 LQRI控制器 41 4.2 下層控制器 45 4.2.1 阿克曼轉向幾何 45 4.2.2 煞車力分配 47 Chapter 5 MiL模擬與結果 52 5.1 CarSim軟體 52 5.2 估測器驗證 54 5.3 四輪轉向模式之比較 59 5.3.1 ISO 3888-1測試 60 5.3.1.1 乾燥路面 61 5.3.1.2 濕滑路面 64 5.3.2 FMVSS 126測試 67 5.3.3 ISO 7401測試 71 5.4 積分控制之比較 74 5.4.1 ISO 3888-1測試 74 5.4.1.1 乾燥路面 75 5.4.1.2 濕滑路面 78 5.4.2 FMVSS 126測試 81 5.4.3 ISO 7401測試 83 Chapter 6 結論與未來展望 86 6.1 結論 86 6.2 未來展望 87 參考文獻 89 | - |
| dc.language.iso | zh_TW | - |
| dc.title | 基於積分線性二次調節器於四輪轉向車輛橫向操縱與穩定性控制 | zh_TW |
| dc.title | Lateral Handling and Stability Control of Four-Wheel Steering Vehicles Using LQR with Integral Action | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 112-2 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 詹魁元;陳明彥 | zh_TW |
| dc.contributor.oralexamcommittee | Kuei-Yuan Chan;Ming-Yen Chen | en |
| dc.subject.keyword | 四輪轉向(4WS),線性二次調節器(LQR),穩定性控制,主動後輪轉向(ARS),直接橫擺力矩控制(DYC),煞車壓力分配, | zh_TW |
| dc.subject.keyword | Four-Wheel Steering (4WS),Linear Quadratic Regulator (LQR),Stability Control,Active Rear Wheel Steering (ARS),Direct Yaw Moment Control (DYC),Brake Pressure Distribution, | en |
| dc.relation.page | 93 | - |
| dc.identifier.doi | 10.6342/NTU202402438 | - |
| dc.rights.note | 未授權 | - |
| dc.date.accepted | 2024-08-06 | - |
| dc.contributor.author-college | 工學院 | - |
| dc.contributor.author-dept | 機械工程學系 | - |
| 顯示於系所單位： | 機械工程學系 | |
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