本文的目的在於探討機車具側傾角與轉向角時，液壓防鎖死煞車控制系統加入側向加速度考量對於機車煞車穩定性之影響。故本文首先建立具側傾角與轉向角的機車非線性模型，再加上液壓防鎖死煞車模組之數學模型和Pacejka之機車輪胎模式以模擬煞車情形。而在液壓防鎖死煞車系統之控制器方面，可分為決定控制命令之控制邏輯與驅使系統追蹤該控制命令之控制法則。防鎖死煞車系統常見之控制邏輯為滑差、車輪角速度、煞車壓力等。本文利用回授車輛之煞車壓力、角減速度、和側向加速度，建立一組壓力判斷邏輯，適當的進行壓力的判斷，而追蹤該控制命令之控制器，則是設計了一模糊滑動控制器進行追蹤控制。

The purpose of this study is to discuss ABS control system conclude lateral acceleration when the motorcycle has camber and steer angle. First, the study constructs the nonlinear model of motorcycle which has camber and steer angle, then it accedes the ABS model and Pacejka tire model to simulate the process of the brake. The controller of the ABS is composed of the control logic for the determination of the commands to the ABS controller and the control rule for the tracing of the commands. The common physical variables utilized in the ABS control logic are slip ratio, wheel angular velocity, brake pressure and so on. The study is to use brake pressure, wheel angular acceleration and lateral acceleration feedback to establish a pressure control logic for estimating the pressure adequately and to design a fuzzy-sliding mode controller to trace the pressure command.

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