| Summary: | 碩士 === 國立臺北科技大學 === 機電整合研究所 === 91 === This thesis dealt with the research and development of a sideslip-angle control system on a four-wheel-steering vehicle. In order to achieve the given goal, this research first collected all kinds of literatures dealing with the sideslip-angle control of different four-wheel-steering vehicles. The collected literatures were mostly from academic journals and patents. A thorough classification and kinematic analysis were conducted in the early stage of this research. The strategies to control the sideslip angle of modern four-wheel-steering vehicles were classified into three categories, namely, simultaneous inphase steering, phase-delay steering, and phase-reverse steering. Detailed illustration and analysis of each category was presented in a systematic manner.
The steering theorems for the front-wheel-steering and four-wheel-steering vehicles were derived and discussed in this research by using bicycle models of such vehicles. The derivation of the rear-to-front steering angle ratio of a four-wheel-steering vehicle was carried out carefully. The design procedures of the front-wheel steering mechanism, the rear-wheel steering mechanism, and the kernel mechanisms were arranged in an efficient way. Being the most important results, an ideal and a practical sideslip-angle control system were developed in the later part of this thesis, which can eliminate or reduce the sideslip angle of a vehicle.
Referring to the key dimensions of the production vehicles and the ideal vehicle cornering properties, this research derived the equations to determine the steering angle of rear wheels according to the velocity of the vehicle and the steering angle of the front wheels. The kinematic analysis of the new sideslip-angle control system was accomplished. Finally, Pro/ENGINEER and Pro/MECHANISM software were employed to construct the solid models of the new design and to execute the dynamic simulation to verify the performance of the new design.
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