本文欲應用液壓防鎖死煞車系統於機車，首先設計適合機車用之液壓防鎖死煞車模組，以可使防鎖死煞車模組體積小型化之容積調變式系統為設計方向，衍生出由電動馬達驅動之凸輪式、螺桿式、常開式、嵌入式，四組機車用液壓防鎖死煞車模組。
　　本文針對機車液壓防鎖死煞車系統性能測試，建立三組實驗裝置，分別為即時硬體模擬器、動態測試實驗台、實車路試車輛。即時硬體模擬器乃透過機車運動數學模式與輪胎模式之建立，以程式模擬虛擬車輛，配合I/O介面裝置，與液壓防鎖死煞車模組結合，進行機車液壓防鎖死煞車系統控制。為建立輪胎模式，而進行輪胎煞車黏著力之量測。並發現貝斯卡輪胎模式無對速度與輪胎黏著力關係之描述，進而將其輪胎模式推廣，以黏著力量測實驗之數據，配合遺傳基因演算法鑑定出之參數值，描述輪胎黏著力隨速度之變化。
　　液壓防鎖死煞車系統之控制器，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。防鎖死煞車系統製造商採用之控制邏輯常仰賴大量的經驗法則，而滑差之量測則受限於感測器成本以及路面跳動等因素之影響，且機車具大傾斜角及騎士重心可移動等特性，使傳統控制邏輯之應用不易，故本文提出智慧型煞車壓力控制邏輯之設計，並配合機車用之液壓防鎖死煞車模組，進行即時硬體模擬與於動態測試實驗台、實車路試車輛之性能測試，以驗證本文之液壓防鎖死煞車系統。

The objective of the study is to apply the ABS to motorcycle by re-design the anti-lock brake module. The volume-adjustable type ABS is adopted by its possibility of miniaturization. Four anti-lock brake modules driven by electric-motor are developed for motorcycle in this study.
The real-time hardware-in-the-loop (HIL) simulator, dynamic test stand and on-road test vehicle are set up for the motorcycle ABS performance test. The real-time HIL simulator is composed of the hardware part (anti-lock brake module), the I/O part (I/O card) and the software part (motorcycle kinematics and tyre model) to build the virtual vehicle. The tyre model is identified from the test data of the tyre adhesive force measurement referred to the Pacejka magic formula tyre model (MFTM). The relationship between the vehicle velocity and the tyre adhesive coefficients is described from the extension of the MFTM.
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 control logics of the ABS manufacturers usually are based experiences obtained from large amount of experiments. The calculation of the slip ratio may be influenced by a rough road surface and limited on its cost of the instrument. The characteristics of motorcycle are large camber angle and the motion of the rider. To overcome these limitations and influences, an intelligent brake pressure control logic is designed in the study. A real-time HIL simulator, a dynamic test stand and an on-road test vehicle are set up to prove the performance of the hydraulic anti-lock brake module.

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