聯結車所發生之事故往往比小型車來的嚴重，而是故型態也相當多樣，如鐮刀效應、半拖車失控、翻覆等，因此發展聯結車之安全系統顯得格外重要，而在控制器開發後，時常因成本及安全問題無法驗證控制器效益，使得開發之控制器往往僅開發至模擬階段，因此在本研究中將針對大型聯結車作為範本，開發一1:10之縮小型聯結車，加入二、三軸轉向以利於後續開發之使用，並由各種感測器以量測車輛行駛中之動態響應，並與線性模型比較車輛動態的相似性並比較之，另外為了使得縮小型聯結車與真實聯結車動態相似，因此本研究另外加入了維度分析，以確保縮小型聯結車的動態相似性，最後，將一LQR控制器加入至縮小型聯結車中，並透過第二軸轉向的方式，驗證縮小型聯結車的動態是否因此產生改善，藉此說明控制器的有效性。

The accidents of articulated vehicle are often more serious than sedan, but the types are quite diverse, such as jack-knife, trailer swing, overturn, etc. Therefore, it is extremely important to develop safety systems for articulated vehicle. After the controller is developed, Due to cost and safety issues, it is usually impossible to verify the advantages of the controller, it is not possible to verify the benefits of the controller, so that the developed controller is often only developed to the simulation stage. Therefore, in this study, we will develop a 1:10 miniaturized articulated vehicle as a model for the scale articulated vehicle second and third-axis steering is used for subsequent development, and various sensors are used to measure the dynamic response of the vehicle during driving, and compare the similarity of the vehicle dynamics with the linear model and compare it. In addition, in order to make the scale articulated vehicle dynamic similar to the real articulated vehicle, Therefore, this research has additionally added dimensional analysis to ensure the dynamic similarity of the scale articulated vehicle. Finally, Finally, add an LQR controller to the scale articulated vehicle, and use the second-axis steering method. To verify whether the dynamics of the scale articulated vehicle is improved as a result, to illustrate the effectiveness of the controller.

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