結合順滑模態控制與參考橫擺角速度選取方式於車輛側向控制之研究

Abstract

本論文利用直接橫擺力矩控制(Direct Yaw Moment Control，DYC)技術探討車子側向控制之穩定性與操控性的相關議題。論文中結合順滑模態控制設計與參考橫擺角速度選取的方式使側滑角能維持在容許範圍內以維持行車之穩定性。首先，本論文針對2-DOF的線性車子模型分別設計時變與非時變的參考橫擺角速度，模擬結果顯示不但行車的穩定性可以確保，操控性能也可以有效的提升。所獲得的結果也應用在電子車具有煞車致動器故障時之可靠度控制議題，模擬結果顯示在部分致動器發生故障時車輛仍可維持其穩定性與操控性。最後，本論文也探討汽車行駛於μ-split路面時利用DYC控制方式的穩定問題，模擬結果顯示所提控制設計之有效性。

In this thesis, we study the vehicle stability and maneuverability issues using the direct yaw moment control (DYC) technique. The proposed scheme employs the sliding mode control (SMC) design and the reference yaw rate selection approach so that the vehicle not only maintains its stability but also achieves allowable maneuverability. For a 2-DOF linearized vehicle model, this thesis provides both time varying and time-invariant reference yaw rates, which are shown from simulation to be able to realize the maneuverability as better as possible and keep the vehicle under stable operation. We also extend the results to the reliability issues when the vehicle experiences actuators’ outage. Besides, the DYC scheme is also employed to investigate the stability when vehicle drives on μ-split road. Simulation results demonstrate the benefits of the proposed scheme.