臺灣博碩士論文加值系統

ABS控制最重要的就是減少煞車距離並防止車輛打滑，也就是讓車輛經常保持在輪胎與地面間擁有最大摩擦力的情況，而我們都知道摩擦力與正向力與摩擦係數有關，在正向力無法控制的情況下摩擦係數又與什麼有關呢？根據許多文獻指出車輛的摩擦係數與滑差呈現一種非線性關係簡稱"μ"-"λ" 曲線，而這條曲線也表示出最佳的控制目標，落在將"λ控制在" 0.14~0.2之間。
本論文提出基於觀測器之終端順滑模態控制方法，藉由擴張觀測器來估測因為未知的外在干擾與無法經由量測得到的狀態變數，建立一個較完整的車輛模型對PID、SMC、TSMC、NTSMC等控制性能分析，可以得知SMC對於煞車系統的控制效果還是會有相當大的抖振現象而TSMC不只保留了SMC快速且穩健性強的優點，還大幅地降低了抖振現象，並從模擬結果中得知NTSMC以及TSMC控制效果與反應速度比PID控制器還要來的快，並且能夠有效地防止外部干擾。

A procedure is the most important thing about ABS control to reduce the braking distance and prevent the vehicle from slipping, that is, to keep the vehicle with the maximum friction between the tire and the ground. The apparent friction is related to the positive force and the friction coefficient. What is the friction coefficient under control? According to many documents, the friction coefficient of the vehicle presents a nonlinear relationship with the slip, referred to as the μ-λ curve. This curve also shows the best control target, and the λ is controlled between 0.14 and 0.2.
This paper will explore the importance of ABS for vehicles and design a terminal sliding model controller (TSMC) combined with an extended observer to estimate the state variables that cannot be measured and unknown external disturbances. Through computer simulation, it can be known that SMC has a considerable chattering effect on the braking system. TSMC not only retains the advantages of SMC's fast and robustness, but also greatly reduces the chattering phenomenon. It is known that the TSMC has a better control effect and the reaction speed is faster than one of the PID controller , and can effectively reduce the braking distance.

摘 要 i
ABSTRACT ii
誌謝 iii
目 錄 iv
表 目 錄 vi
圖 目 錄 vi
符 號 說 明 viii
第一章 緒論 1
1.1前言 1
1.2文獻回顧 2
1.3研究目的與動機 3
1.4論文架構 3
第二章 控制理論與擴張觀測器 5
2.1前言 5
2.2順滑模態控制理論 5
2.3終端順滑模態理論 12
2.4非奇異終端順滑模態理論 14
2.5擴張狀態觀測器之介紹 18
第三章 車輛系統模型 22
3.1四分之一車輛模型 22
3.2車輛動力學 23
3.3車輪動力學 25
3.4摩擦力與滑差的非線性關係 26
3.5布克哈特輪胎模型（Burckhardt tire model） 26
第四章 控制器設計 29
4.1前言 29
4.2系統模型 29
4.3順滑模態控制 31
4.4擴張狀態觀測器 33
4.6擴張狀態觀測器為基礎之終端順滑模態控制 35
4.7擴張狀態觀測器為基礎之非奇異終端順滑模態控制 38
第五章 模擬結果與討論 42
5.1前言 42
5.2控制模擬結果 43
第六章 結論與未來展望 84
參考文獻 86

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