線控轉向系統車輛穩定控制器之發展

Development of Vehicle Handling Control with Steer-by-Wire System

本文主要探討線控轉向系統車輛穩定控制，由於線控轉向系統是透過控制轉向馬達，因此可在其控制核心內加入車輛穩定控制之策略，使車輛能達到轉向之效果，同時也具備了車輛安全穩定之特性。在車輛轉向穩定控制中，其主要目的在於控制車輛之重心側滑角，使車輛在行駛時都能保持在最低的重心側滑角的範圍內，以增加車輛在低速或高速過彎時的安全性、操控性以及穩定性。利用模擬軟體 CarSim 模擬測試，並觀察分析模擬車輛在行駛時是否能保持在最低的重心側滑角的範圍內。在透過硬體迴路 （HIL） 測試與本研究所建立的線控轉向平台相互連接控制，經由觀察硬體迴路測試之結果，可證實車輛穩定控制於平台上之控制。

This study focuses on the handling control of vehicles with steerby-wire systems (SBW). Vehicles with steer-by-wire systems get rid ofsome of the limitations of traditional steering systems, which enhancesvehicle handling control. In vehicle handling control, the main purpose isto focus on sideslip angles at car-ground control. Under this controlsystem, vehicles should always have minimal sideslip angles at the C.G.range, and have stable handling in high speed or low speed cornering.First, we use the CarSim software to verify the proposed method forthe vehicle handling control. Next, the hardware-in-the-loop (HIL) isconnected to the steer-by-wire system platform and the controller of thesteering motor. Through the hardware-in-the-loop test result, we canverify that the vehicle can obtain stable steering as the vehicle is cornering.