| Summary: | 博士 === 國立臺灣大學 === 機械工程學研究所 === 86 === This study concerns the effects of vehicle control parameters on the dynamic response of vehicle. These control parameters are the steering angle, tractive/braking force, and active suspension force of every wheel of the vehicle. The selection and the combination of the control parameters, i.e. a control mode, determines the maneuvering abihty of the vehicle. Based on the number of control parameters and the degree of freedom of the vehicle model, three types of control modes (1) under control, (2) full control and (3) over control are defined and discussed in this study. The mechanism causing negotiating a turn is investigated in the beginning of the study, and a six degree of freedom vehicle model which includes vehicle longitudinal, lateral, bounce, pitch, roll, and yaw motion is developed. By using this vehicle model, the control rules of tractive/braking force, steering angle, and active suspension force are deduced when vehicle realizes zero body-sideslip angle and stable body motion. For the practical consideration, the total tractive force, total cornering force, and total active suspension force are taken as the evaluation criteria. All different full control modes are compared and preferable modes are discussed. In over control, extra control parameters are used to improve the performance and to extend the critical speed of vehicle. As the distribution of the needed tractive/braking force and steering angle to each wheel are reassigned in the integrated control, each wheel can utilize the cohesion between tire and ground and therefore, it can improve vehicle acceleration performance. Finally, the three-wheel vehicle is investigated, and the difference between three-wheel and four-wheel vehicle are compared. This study introduced a systematic method to analyze the effects of all control parameters and their combinations. The preferable control modes have been concluded, and this study should be helpful for improving the maneuverability and safety of vehicle.
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