| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 101 === The purpose of this thesis is to propose an advanced direct yaw moment controller to improve the stability of vehicles. Conventional direct yaw moment controller usually generated yaw moment to change the characteristic of steering through distributing the torque of wheel motor or the torque of braking system. As the features of motor can provide having a quick response and able to generate torque in accurate measures, and therefore it can correct the vehicle''s behavior immediately while having a turn. On the other hand, those yaw moment generated by in-wheel motors far fewer than which able to be generated by the hydraulic braking system. Based on the mentioned above, we are going to design a rule of torque distribution combining two opposite torque, those from the wheel motors and braking systems, in order to benefit from both characteristics of short reaction time and the high torque output. In this thesis, there is a vehicle stabilizing system constructed to overcome different situations, this system is implemented with model following controller(MFC), loading observer, speed controller, anti-lock braking system(ABS) and traction control system (TCS).
Lastly, we built a hardware-in-the-loop to verify the reliability of the improved direct yaw moment controller and the real-life driver. The results from the real-time online simulator show the improved direct yaw moment controller do offer a better stability than the conventional direct yaw moment controller as we proposed.
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