本文針對機車煞車時的動態特性設計一防鎖死煞車系統，其中包含調壓模組及防鎖死煞車控制器之設計，本研究中設計兩組容積調變式調壓模組進行模擬與實測，結果顯示調壓模組可有效調變煞車壓力追隨參考目標值。防鎖死煞車系統控制器的設計則包含三個部分：調壓模組控制單元、側向控制單元與縱向控制單元，調壓模組控制單元是用來控制調壓模組，讓煞車卡鉗內的煞車油壓力能追隨參考壓力值，其中包含一灰色預測理論用於抑制初始壓力超越量的產生。另外，本研究提出一側向控制邏輯，利用縱向滑差值補償機車在側傾轉彎時的側向穩定性，並且利用此邏輯設計出兩種不同架構之側向控制單元：具側傾角回授、無側傾角回授。側向控制單元可以決策出機車在不同側傾角及不同速度下前後輪之滑差目標值，有側傾角回授的側向控制單元可容許機車在側傾角40度、初始速度60km/hr的狀況下煞車並保持車輛穩定。無側傾角回授的側向控制單元雖然可節省一側傾角感測器之成本，但是其在初始速度60km/hr側傾轉彎煞車下最大可容許側傾角只有23度。至於縱向控制單元的部分，本文也提出兩種控制架構：滑差控制架構、輪速控制架構分別加以研究討論，並且提出一車速估測邏輯，用來估測車輛之速度。除了防鎖死煞車系統設計外，本研究並建造一動態實驗台，用來作為機車直線煞車與側傾轉彎煞車實驗使用，實驗時將設計之機車防鎖死煞車系統安裝於前後輪進行測試與討論。最後則是將防鎖死煞車系統安裝於實車上進直線行駛煞車路試，藉以映證機車防鎖死煞車系統之可行性。

The new anti-lock braking system (ABS) for a motorcycle is presented in this study, and it is designed according to the dynamic responses of motorcycle. The new design ABS includes a hydraulic modulator and controller. Two different volume-adjustable types of hydraulic modulator are presented in this study, and it can efficiently adjust the brake oil pressure in calipers to track target value. ABS controller is divided into three parts: hydraulic modulator control unit, lateral control unit, longitudinal control unit. Hydraulic modulator control unit is used to drive the ABS modulator, which contains a fuzzy and gray prediction theorem. The gray prediction theorem can prevent the overshoot problem of brake oil pressure when driver suddenly grabs brake handle. A concept of lateral control logic is presented, which use longitudinal slip ratio to compensate lateral stability of motorcycle. There are two different types of lateral control unit (with camber angle feedback, without camber angle feedback) has been presented in this study, according to the lateral control logic. Lateral control unit determines the target slip ratio at different camber angle and velocity. The type of lateral control unit with camber angle feedback can make sure the stability of motorcycle braking at 60 km/hr when it has 40 degree of camber angle. Another type of lateral control unit without camber angle feedback can economize on sensor cost, but the maximized allowed camber angle of motorcycle only has 23 degree. Longitudinal control unit also has two different types and be introduced in this study. A velocity estimator is used to estimate the motorcycle velocity. Dynamic test bench is built to experiment the motorcycle braking on straight line or turning around a corner. At the end, an on-road test motorcycle is set up to prove the performance of ABS.

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