本論文的主要目標為設計搖桿式載具轉向系統，搖桿式載具轉向系統的主要功能，是讓駕駛者以操縱搖桿裝置透過機電控制完成載具轉向動作。本文提出搖桿式載具轉向系統的核心設計架構，並分成三階段的實驗規劃，分別為實體架構設計、車輛動態模擬及實車測試結果分析等進行詳細的探討。本文以改裝Go-Kart為實驗載具平台，開發一組適用於車輛載具的駕駛搖桿機構，透過搖桿上的編碼器，將駕駛者的控制資訊轉成位置訊號，成為轉向馬達控制迴路的輸入命令。針對線控轉向系統，建立無刷直流馬達伺服控制策略，將系統控制架構利用嵌入式數位訊號處理器(embedded-DSP)實現，並安裝於實驗載具上進行變換車道試驗，透過陀螺儀感測試記錄試驗結果，比較搖桿式線控系統與方向盤機構過彎之狀況。

The goal of this thesis is to design the steering vehicle system by joystick. The main function of the steering vehicle system is drivers can operate the joystick with electrical control to accomplish steering motion. In this paper , the main design framework of the steering vehicle system is divided into three stages of the experiment, vehicle architecture, vehicle dynamic simulation and vehicle test results . The overall system is modified Go-kart as a platform, develop a suitable joystick framework in the vehicle, and apply the encoder on the joystick, which transfer the control information into the position signal, to be the input command of steering motor control program. According to the steering by wire for brushless DC servo motor control strategy, the system control architecture achieve the goal by embedded-DSP. And to test double-lane change by Go-kart. Experimental results recorded by gyroscope can compare the steering situation of joystick with steering wheel.

論文審定書 i
誌 謝 ii
摘 要 iii
Abstract iv
目 錄 v
圖 次 ix
表 次 xiii
符號說明 xiv
第一章 序論 1
1-1 微型電動載具介紹 1
1-2 載具轉向系統技術介紹 2
1-3 研究動機 4
1-4 研究目的 4
第二章 文獻回顧 5
2-1 電動輔助轉向系統( EPS )之探討 5
2-1-1 EPS電動機放置設計與模擬 5
2-1-2 控制系統設計 7
2-1-3 EPS安全策略評估 10
2-2 線控轉向( SBW )系統之探討 10
2-2-1 系統控制策略及力回饋系統 11
2-2-2 線控轉向系統之通信協定 14
2-3 搖桿機構設計之探討 15
2-3-1 單桿機構式設計 15
2-3-2 間接傳動式設計 17
2-3-3 萬向接頭式設計 18
第三章 研究方法 21
3-1 搖桿轉向裝置之設計 21
3-1-1 機構選用與設計 21
3-1-2 感測器與被動式力回饋機構 25
3-1-3 操控轉矩分析 26
3-2 直流無刷馬達伺服控制架構 30
3-3 線性單軌模型 35
3-4 軌跡重建 38
3-5 變換車道試驗規格 40
3-6 開迴路車輛模擬 41
3-7 閉迴路車輛模擬 49
第四章 實驗結果與討論 55
4-1 實驗配置 55
4-2 實驗結果 59
第五章 結論與未來展望 63
5-1 結論 63
5-2 未來展望 64
參考文獻 69
附 錄 A 76
附 錄 B 77
附 錄 C 79
附 錄 D 82
附 錄 E 83
附 錄 F 84
附 錄 G 85
附 錄 H 86

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