| Summary: | 碩士 === 國立臺北科技大學 === 車輛工程系所 === 96 === This research builds a mathematic model approaching real six-wheel vehicle. Linear quadratic regulator (LQR) technique is employed to control each wheel steering angle for six-wheel active steering system. Thus, both zero sideslip angle and target yaw rate following can be achieved simultaneously. In addition, different wheelbase vehicles in constant longitudinal speed have different cornering behaviors while turning. In this paper, we analyzed the cornering behaviors with six-wheel steering system and six-wheel active steering system and proposed a steering system of multi-axles fitting different wheelbase vehicles. Finally, six-wheel vehicles are built by using Adams/Car and simulated step steering and single lane change scenarios under Matlab/Simulink. Besides, Kalman filter is utilized to estimate sideslip angle as the control results to verify the system could track target yaw rate while turning in constant speed, restrain transient sideslip angle and approach zero slide angle in steady state.
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