| Summary: | 博士 === 國立臺灣大學 === 工程科學及海洋工程學研究所 === 106 === In the motorcycle industry, the safety of motorcycles operating at high speeds has drawn increasing attention. If a motorcycle is equipped with an anti-lock braking system (ABS), it can automatically adjust the brake force to prevent the wheels from locking for achieving optimal braking effect and ensuring operation stability. In an ABS, the brake force is controlled by an electro-hydraulic brake (EHB). The control valve of EHB was fitted with a proportional pressure valve in this study, which differed from the general use of a solenoid valve in order to precisely control the brake force and prevent hydraulic pressure oscillation in the pipes.
This research developed a novel proportional pressure control valve of hydraulic braking actuators for an automobile and a motorcycle. The simulation analysis of solenoid driving force of the pressure control valves is implemented, and the pressure relief capability test of electromagnetic thrust with the proportional valve body is verified. Considering the high controllability and ease of production, the solenooid of this proportional valve was designed with a small volume and higher driving force to adjust the braking pressure and flow.
Next, this study used MATLAB/Simulink to develop the overall motorcycle ABS simulation model, including a proportional electro-hydraulic brake (PEHB), motorcycle motion, tire, and controller models of bang-bang, PID, and fuzzy sliding-mode. The simulation results showed that this actuator had achieved a stable adjustment of depressurization control as well as satisfactory linear precision and repeatability. Therefore, it can be applied to the ABS for slip control. Additionally, an overall motorcycle ABS simulation model was established and perfomed for simulation and analyse of the wheel speed, slip, and brake force of the EHB and PEHB on different road surfaces during braking. According to the simulation results, it was demonstrated that the PEHB canreach more satisfactory stability and response during braking for slip control and effectively reduce braking distance.
Finally, the open-loop and Hardware in the Loop (HIL) testing of the PEHB system of motorcycle were performed. The open-loop test commands confirmed the response time, tracking performance and linearity. Subsequently, In the HIL testing, PID (Bang-Bang) and fuzzy sliding-mode controller were used for slip control test in PEHB. The test results demonstrated that the proportional pressure control valve can perform wellin EHB systemto make the ABS achieve more precise slip control and improve motorcycle safety.
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