防鎖車煞車系統(Antilock braking system, ABS)為車輛的主動式煞車安全系統，能防止車輪鎖死打滑，大幅提高車輛煞車時的操縱性與安全性。歐美各國已將其列為標配，我國近期也推行鼓勵機車加裝防鎖死煞車系統的政策，希望降低因機車量過多而引發的死傷率問題。然而目前國內並無自主開發防鎖死煞車之能力，因此參考工業產品開發流程，開發產品的第一步須先選定一個合格之參考產品，並且獲取其性能方有比較與改善之目標，而測試防鎖死煞車系統性能的方式除了最真實的實車測試外，考良成本以及安全性問題，透過測試載台量測產品性能可以具有更多的發展空間。本研究針對防鎖死煞車控制器的測試與開發，分為兩個階段，首先，本研究利用商用機車ABS Bosch 9在四種環境及系統狀態變異下的強健性作為ABS開發的參考標準，並選用7種性能指標作為評估並量化ABS的性能表現，建立了一套機車用ABS控制器開發測試流程，並以控制器對三項環境變異以及兩項ABS硬體系統發生異常時的強健表現作為測試項目。接著利用本研究自行開發之ABS控制器搭配Bosch 9的油壓控制單元，與Bosch 9的表現進行比較，透過測試了解控制器之優劣，並進行控制策略的改善，最終本文採用模糊理論設計ABS控制器，並成功在控制表現方面，達到良好的改善。本研究透過商用ABS Bosch 9與自主開發之ABS控制器，初步實現了ABS產品開發流程，也透過此過程了解控制器的發展方向，對於國產ABS的開發提供一大助力。

Antilock Braking Systems (ABS) are widely adapted in modern vehicles for enhancing driving safety and maneuverability in braking operation. Their performance and robustness against possible environment variation are thus extremely important. Currently, most ABS related research are usually focused on novel controller design and the above issues are less concerned. However, from whole system performance perspective, such concern must be addressed and essential performance indicator must be defined and characterized. In this work, these issues are implemented using a commercial available Bosch 9 ABS under a self-designed test bench to serve as the reference product for establishing adequate performance indicator and their benchmark standards for evaluate the effectiveness of subsequent controller designs. Specifically, the variations of four possible factors: braking oil pressure, tire pressure, normal contact force, and two abnormalities in the ABS hydraulic control units (HCU) circuit, are considered to characterize the maneuverability and performance variations of the Bosch 9 module in five aspects: the first peak value of slip, average and standard deviation of slip during operation, and the traditional required braking time and achieved distance under using different riding conditions. In parallel, the effectiveness of the self-developed controllers is also characterized under the same conditions. Using the self-developed ABS controller with Bosch 9 hydraulic control unit to compare the performance of Bosch 9 through results of comparison understands the gap of control performance, and establish improvement of control strategy. Finally, this study uses fuzzy theory to design the ABS control and successfully achieved a good improvement in control performance and good results are obtained in the robustness of the vehicle payload. Although it still has a gap with commercial products, the gap would be shortened by continually improving in the future. In summary, this study proposes a set of test process for ABS controller under the robustness performance. Meanwhile, establishing benchmark standards on the reference product as the guidance for performance optimization of self-designed controllers and this should be vital in ABS product design iterations.

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