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題名 | 多軸轉向聯結車轉向控制--最佳控制=Optimal Control of Steering Angle for Better Maneuverability of a Multi-axle-steering Tractor and Trailer |
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作者 | 劉思正; 吳德和; 王家仁; | 書刊名 | 國立屏東科技大學學報 |
卷期 | 10:1 2001.03[民90.03] |
頁次 | 頁57-74 |
分類號 | 448.945 |
關鍵詞 | 多軸轉向全聯結車; 穩態轉角比控制; 最佳控制; 駕控性; Tractor and trailer; Turning control; Later force; Multi-axle-steering; Maneuver ability; |
語文 | 中文(Chinese) |
中文摘要 | 本研究之目的在研究軸轉向全聯結車拖曳車前輪轉角之控制,對車輛穩定性、駕控性及乘坐舒適性之影響。採用的全聯結車為曳引車及拖曳車皆具可轉向之前輪軸,此新模式與傳統全聯結車轉向方法不同。按四輪可轉向轎車研究結果,首先推導並驗証多軸轉向全聯結車之數學模式,接著進行穩態轉角比法及最佳控制法的推導,最後進行模擬分析以了解此二種不同控制法與傳統全聯結車的反應。模擬分析包括頻域響應分析、脈衝響應分析、高低速換道、高低速轉彎等。研究結果顯示高速行駛時穩態轉角比法擺尾之情形最小,最佳控制法次之,因此穩態轉角比法穩定性最佳。而側向加速度方面,換道時穩態轉角比法側向加速度最小,因此乘坐舒適最佳。最無控制法可使側滑速度為零,因此駕控性最佳。此外最佳控制法尚有低速轉變時可減小轉變半徑之優點。 |
英文摘要 | In this research, we study the control methods of multi-axle-steering tractor and trailer, and the influeace on vehicle stability, maneuverability, and ride comfort. The control of the proposed tractor and trailer with multi-steering axles is different from traditional tractor and trailer. Based on the four wheels steering vehicle research results, we first derive and verify the mathematical model of the proposed articulated vehicle, next derive the steady state turning control method and the optimal control method. Finally, we develop programs for driving simulations. The simulations include frequency domain analysis, impulse response analysis, high-low speed turning analysis. The results show that the steady state turning control method has the best swing response, that is, it has the smallest angle variation between tractor and trailer, the optimal control method is second, hence the steady state turning control method has the best stability property. Regarding the lane change maneuver, the steady state turning control method has a minimum lateral acceleration, so it has the best ride comfort. Nevertheless, under optimal control the side slip velocity of tractor can be reduced to minimum during both transient and steady state, so it has the best handling property, moreover, it achievers a smaller turning radius in low-speed turning. |
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