追蹤動態最佳滑差之防鎖死煞車系統之智慧型控制

Abstract

本論文針對半車模型防鎖死煞車系統提出基因演算法之適應性滑動模糊控制方法。就設計目的而言，我們主要是使實際輸出滑差保持在最佳滑差，使車輛保持在最大摩擦力，以達到快速煞車的目標。在控制方法上，提出以基因演算法作為線上適應調整的策略，並改進抖振問題。在穩定性方面，Lyapunov定理被應用來證明系統為漸近?定系統。最後並以例子的模擬來驗證所提出方法之成效。

In this paper, a hybrid system, combined of a sliding mode controller and a FNN controller with an update law which turned by Genetic-Algorithm, is developed for a half model. The slip ratio controller is used to maintain the slip ratio of the vehicle at the optimal values so that this braking vehicle can be stopped along the biggest friction during the whole braking process. And we use the Genetic-Algorithm to update the parameter of the FNN system for reducing chattering. The controller is designed based on the Lyapunov theorem, so the stability of the system can be guaranteed. The results of simulation experiment demonstrate the effectiveness of the proposed approach.