本研究主旨為發展一適用於大眾車輛之主動式前輪(Active Front Steering, AFS)控制系統，其目的不只讓車輛能穩定的行駛，更降低車輛翻覆的可能性。為了探討車輛於行駛中的動態行為，於本文中建立了三自由度車輛模型與八自由度車輛模型，比較兩者車輛模型後，本論文採用八自由度車輛模型，藉由此模型來模擬實際車輛動態行為，此外並採用非線性輪胎模型(magic formula tire model)作為本文之輪胎模型。控制策略採用以工業界最常使用之比例積分控制器，目的在於低成本、容易更改等優點。在驗證中，本文採用四種不同的測試，其中各項目為一般大眾開車常見之行為與感受。於模擬測試中比較各項重要車輛參數之變化，藉此驗證開發之主動式前輪轉向控制系統達到設計之目的。

The goal of this thesis is to develop an active front steering(AFS) control system which can apply to ordinary vehicle. This AFS control system stabilizes the driving vehicle and reduces the possibility of rollover. This thesis uses magic formula tire model and constructs a vehicle model with eight degrees of freedom to study the dynamic behavior of the real driving vehicle. This thesis constructs a vehicle model with three degrees of freedom and eight degree of freedom, compare with two vehicle model, we adopt eight vehicle model in this thesis. The advantages of PI controller are low cost and easy to modify, so this thesis adopts PI controller as the control strategy. This study uses four simulate methods and compares the simulated results to develop the AFS control system which can apply to ordinary vehicle.

論文審定書 i
誌謝 ii
中文摘要 iii
Abstract iv
目 錄 v
圖 次 vii
表 次 .x
符號說明 xi
第一章 緒論 1
1.1 研究背景 1
1.2 研究動機 3
1.3 研究目的 3
第二章 文獻回顧 5
2.1 偏航-側翻車輛模型建立之探討 5
2.1.1 三自由度 5
2.1.2 八自由度 6
2.2 主動式車輛控制系統 7
2.2.1 懸吊式控制系統 8
2.2.2 差動式煞車控制系統 10
2.2.3 主動式前輪轉向控制系統 11
2.2.4 主動式前輪轉向搭配偏航力矩控制系統 14
第三章 三自由度車輛模型 17
3.1 車輛模型推導 17
3.2 模型建立與驗證 26
第四章 八自由度車輛模型 28
4.1 車輛模型推導 28
4.2 模型建立與驗證 43
4.3 車輛模型比較 45
第五章 主動式前輪轉向控制系統建構與模擬分析 46
5.1 主動式前輪轉向系統 46
5.2 控制器設計 47
5.2.1 車輛參考模型 48
5.2.2 PI控制器 51
5.3 模擬結果分析 53
5.3.1 轉向測試(J-turn) 55
5.3.2 換道測試(Lane change) 58
5.3.3 舒適度測試 64
5.3.4 翻覆測試 69
第六章 結論與未來展望 71
6.1 結論 71
6.2 未來展望 72
參考文獻 74
附錄一 八自由度車輛模型方塊圖 80

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