本文主旨是探討輪胎變形量對於主動式懸吊系統之乘坐舒適性及操控安全性之影響;主動式懸吊系統為動態時變且高階液壓非線性系統，假設採用建立數學模型系統(Model based)方式，通常是只能操作在有限的條件情況下，實際上很難以精確地描述真實的系統，所以本文採用無需數學模式的智慧型控制理論。如此，可以省去高階非線性方程式的計算困難，以及節省參數鑑定的麻煩。為了克服傳統的模糊控制器開發時，在嘗試錯誤建立強健的規則表及選取適當隸屬函數，所花費大量時間，本文改採用具有線上自我學習特色之自組識模糊控制器為基礎。

首先，本文將提出兩種智慧型控制器應用於主動式懸吊系統：(一)、傳統模糊控制器、（二）、自組識模糊控制器，然後再比較兩者控制器遇到不同路面與車速下之車體垂直加速度、車體位移、功率頻譜密度等各方面性能之間的差異，進而得到輪胎變形對於主動式懸吊所造成影響，並對於實驗結果作更進一步的探討。最後，以本實驗室建立之1/4車之液壓伺服主動式懸吊系統實驗機台驗證之。

Abstract

Many active suspension strategies have been proposed to improve the riding ability and holding comfort recently. Most of these researches are based on computer simulation without experimental implementation and also neglect tire deformation effects on active suspension system, but the factories could change the performance of active suspension system in actual.
This paper is to study the influence of tire deformation on an active suspension system. The active suspension system is a nonlinear and time varying system. It is very hard to describe precisely in mathematics; otherwise; it only works in very small condition. For save computation system identification and decreasing model error’s affection, so this paper proposed intelligent control theorem model free based to describe the system reality.
First, this paper proposed two kind of intelligent controllers (1)Fuzzy logic controller (2)Self-Organization Fuzzy logic controller for active suspension system, and then make contrasts theirs performances under the different road profile. Further, to obtain the influence of tire deformation of active suspension system, verify the experimental results by a 1/4 car active suspension system was constructed in our lab.

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