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研究生：	陳品任 Chen, Pin-Jen
論文名稱：	基於滑動模態控制之防鎖死剎車控制設計策略：模擬、實現、及實機驗證 Development of Sliding Mode-Based Braking Control Schemes: Simulation, Realization, and Validation using Bosch Anti-lock Braking System 9
指導教授：	陳國聲 Chen, Kuo-Shen
學位類別：	碩士 Master
系所名稱：	工學院 - 機械工程學系 Department of Mechanical Engineering
論文出版年：	2023
畢業學年度：	111
語文別：	中文
論文頁數：	255
中文關鍵詞：	防鎖死煞車系統、雙輪動態測試載台、滑動模態控制器、性能測試、強健性測試
外文關鍵詞：	anti-lock braking systems, dynamic testing bench, sliding mode control, performance evaluation, robustness
相關次數：	點閱：130 下載：0
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防鎖死煞車系統(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。我國先前曾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，本研究在測試載台已經建立完成的基礎上，進行載台的改善與擴充，成功對後輪油路進行擴充，完成雙輪動態測試載台的建置，以建立機車用ABS控制器開發之基礎，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，並以自建控制器對其性能與兩項環境變異的強健表現作為測試項目。透過測試了解控制器之優劣，並進行控制策略的實現與改善，最終本文採用積分式滑動模態控制器，並利用效能指標作為評判標準，成功在控制表現方面達到改善。本研究透過商用ABS Bosch 9與測試載台，成功實現了高強健性ABS控制器的開發，並探討不同改善策略其優缺點，作為後續控制器發展的基石。

Anti-lock braking system (ABS) is an active braking safety system that prevents vehicle wheels from locking and slipping for enhancing maneuverability. Previously, in the present group, a test bench and its associated control schemes have been designed and realized for performance evaluation and durability tests as an associated task for an ABS development problem for the motorcycle market in Taiwan. Based on this established bench and control schemes, the aims of this work are to improve the performance and extend the functionality of the existed module and design more appropriate controllers to enhancing performance robustness. One major hardware concern is that the initial locking problem is observed in the bench caused by the time delay of the wheel speed estimation during braking. To improve such a concern, various approaches by both hardware modification and signal processing are investigated. Once the problem is solved, the original one-wheel braking is then extended to two-wheel braking for mimicking the operation of motorcycle in real services. Such an extension could significantly enhance the functionality of the test bench for future tests. In parallel, the fundamental sliding control scheme and its modifications such as integral sliding mode control are also implemented on the modified bench using Bosch-9 module mounted on the bench for performance comparison. The goal is to keep the slip ratio at an optimal setup. In comparison with the previous developed fuzzy logic controller, the presented control system could better regulate the slip ratio during operation. The standard deviation of the slip ratio, representing the braking maneuverability, deviated from the desired value, which is 0.2, is smaller than ever. In addition, the variation of the braking maneuverability index against possible main pressure and normal force, which represents the robustness of system during operation, is also studied and the results indicates considerable improvement in comparison with our previous developments. In the future, the presented design could be further optimized and the coupling problem in the two-wheel braking control could be initiated for optimizing braking operation in motorcycle related applications.

摘要	I
Abstract	II
Extended Abstract	III
致謝	XXXII
目錄	XXXIV
圖目錄	XXXIX
表目錄	XLVI
縮寫說明	XLVIII
符號說明	XLIX
第一章 緒論	1
1 前言	1
2 文獻回顧	6
3 研究動機與目的	9
4 研究方法	12
5 本實驗室相關研究	13
6 本文架構	15
第二章 研究背景	17
1 本章介紹	17
2 防鎖死煞車系統	18
2.1 防鎖死煞車基本原理	18
2.2 防鎖死煞車系統元件組成	23
2.3 防鎖死煞車測試載台於控制器開發之應用	27
3 防鎖死煞車測試載台	29
3.1 ABS性能測試載台	30
3.2 動態測試載台	31
3.3 ABS性能檢測與開發之多功能載台	34
4 防鎖死煞車系統建模	37
4.1 ABS煞車系統	38
4.2 輪胎與路面關係	40
4.3 車輛動態系統	42
5 本章討論	44
6 本章結論	45
第三章 防鎖死煞車控制法則介紹	46
1 本章介紹	46
2 滑動模態控制理論	47
3 進階滑動模態控制理論	50
3.1 積分式滑動模態控制理論	50
3.2 模糊滑動模態控制理論	51
4 Stateflow控制理論	52
5 控制理論於防鎖死煞車之相關應用	54
6 討論與文獻評論	55
7 本章結論	56
第四章 整體研究概念設計	57
1 本章介紹	57
2 概念設計	58
3 ABS測試系統軟硬體環境與標準建立	60
4 ABS控制器開發	62
5 本章結論	64
第五章 ABS測試載台強化與性能標準建立	65
1 本章介紹	65
2 ABS測試載台功能介紹與強化	67
3 感測器次系統	69
4 油路次系統	76
5 控制電路次系統	79
6 ABS煞車實驗	83
6.1 鎖死煞車實驗	83
6.2 防鎖死煞車實驗	86
7 特徵指標評估	91
8 HCU致動性能標準建立	96
8.1 進油閥最大升壓速率性能標準	97
8.2 出油閥最大降壓速率性能標準	99
9 ECU控制性能標準建立	102
9.1 主缸壓力變異性能標準	103
9.2 正向力變異性能標準	105
10 本章結論	107
第六章 ABS測試載台之系統動態模型建立	108
1 本章介紹	108
2 動態模型設計	110
2.1 主缸建壓單元	111
2.2 ABS液壓控制單元	111
2.3 輪缸煞車單元	113
3 油壓次系統動態模型建立	115
3.1 液壓源	116
3.2 油壓缸	117
3.3 油閥致動器	119
3.4 儲油槽與回油幫浦	123
3.5 煞車卡鉗	124
4 車輛次系統動態模型建立	126
4.1 輪胎與地面接觸力	127
4.2 飛輪式載台系統動態模型	130
5 系統參數建立與準確性評估	133
5.1 系統參數建立	133
5.2 模型準確性評估	139
6 本章結論	141
第七章 滑動模態控制器設計與控制實驗	142
1 本章介紹	142
2 SMC控制器設計流程	143
3 SMC控制器設計	146
3.1 模擬環境之建立	146
3.2 SMC控制器建立	150
4 SMC控制器模擬	157
4.1 控制器模擬性能比較	157
4.2 正向力變異模擬	159
4.3 主缸壓力變異模擬	161
5 SMC控制器控制實驗	163
5.1 正向力變異實驗	163
5.2 主缸壓力變異實驗	165
6 控制器性能比較與改善方針	167
6.1 正向力變異性能比較	167
6.2 主缸壓力變異性能比較	169
6.3 控制器性能討論	171
7 本章結論	173
第八章 進階滑動模態控制器設計與控制實驗	174
1 本章介紹	174
2 SMC控制器改善策略的實現	175
3 ISMC控制器設計與模擬	176
3.1 ISMC控制器建立	177
3.2 ISMC控制器模擬性能比較	179
4 FSMC控制器設計與模擬	181
4.1 FSMC控制器建立	181
4.2 FSMC控制器模擬性能比較	186
5 ISMC與FSMC控制器變異情況模擬	188
5.1 正向力變異模擬	188
5.2 主缸壓力變異模擬	190
6 ISMC與FSMC控制器控制實驗	192
6.1 正向力變異實驗	193
6.2 主缸壓力變異實驗	196
7 控制器性能比較	199
7.1 正向力變異性能比較	199
7.2 主缸壓力變異性能比較	201
7.3 控制器性能討論	204
8 本章結論	205
第九章 Stateflow控制器設計與控制實驗	206
1 本章介紹	206
2 Stateflow控制器介紹	207
3 第一代Stateflow控制器設計	208
3.1 第一代Stateflow控制器建立	208
3.2 第一代Stateflow控制器模擬性能比較	211
3.3 第一代Stateflow控制器改善方針	212
4 第二代Stateflow控制器設計與效能比較	213
4.1 第二代Stateflow控制器建立	213
4.2 第二代Stateflow控制器模擬性能比較	217
5 Stateflow控制器變異模擬	219
5.1 Stateflow控制器正向力變異性能比較	219
5.2 Stateflow控制器主缸壓力變異性能比較	220
6 Stateflow控制器控制實驗	222
6.1 正向力變異實驗	222
6.2 主缸壓力變異實驗	224
7 Stateflow控制器性能比較	226
7.1 Stateflow控制器正向力變異性能比較	226
7.2 Stateflow控制器主缸壓力變異性能比較	228
7.3 Stateflow控制器性能討論	230
8 本章結論	231
第十章 研究結果與討論	232
1 全文歸納	232
2 討論	234
2.1 系統動態建模與測試載台研究延伸	234
2.2 測試載台功能強化方向	235
2.3 ABS控制器設計與煞車控制性能	235
2.4 控制器的改善與延伸	237
3 未來展望與未來工作	239
第十一章 結論與未來展望	241
1 本文結論	241
2 本文貢獻	243
3 未來工作	244
參考文獻	245
附錄A ABS測試載台感測器規格表	250
附錄B ABS測試系統空氣移除方式	252
附錄C SMC控制器架構圖	253
附錄D ISMC控制器架構圖	254
附錄E FSMC控制器架構圖	255
                                    

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