本研究的目標分為兩部分。第一部分為自駕賽車轉向致動控制器設計，針對清華七號學生方程式賽車的轉向系統建立機械連桿模型，進行基本測試驗證模型正確無誤後，以此模型為基礎進行控制器設計、性能模擬，最後將在學生方程式賽車上進行實車實驗驗證。

第二部分則將著重在研究不同回充剎車策略對於能源效率以及電力系統的影響，建立四輪驅動電動賽車模型，內部含括車輛動態、驅動器與馬達效率、散熱模型等要素，並擬訂不同回充策略模擬各種行車環境下的用電量、溫度變化，分析不同變因之間的相關性，並作為未來強化學習回充策略的設計指引，期許能夠透過對回充剎車的時機與比例做更為細膩的調控，來達到提升電動車能源效率及減輕電力系統負荷的效果。

The goal of this study is divided into two parts. The first part involves the design of a self-driving race car steering actuation controller. A mechanical linkage model is established for the steering system of the TH07 Formula Student race car. After conducting basic tests to verify the correctness of the model, a controller is designed based on this model, and performance simulations are carried out. Finally, real-world experiments will be conducted on the Formula Student race car to validate the results.

The second part focuses on researching the impact of different regenerative braking strategies on energy efficiency and the electrical system. A four-wheel-drive electric race car model is developed, including elements such as vehicle dynamics, drivetrain and motor efficiency, and heat dissipation. Various regenerative policies are simulated to analyze their effects on power consumption and temperature changes in different driving environments. The goal is to identify the correlations between different variables and provide design guidelines for reinforcing reinforcement learning regenerative braking policies in the future. The aim is to achieve a more nuanced control over the timing and proportion of regenerative braking, thereby enhancing the energy
efficiency of electric vehicles and reducing the load on the electrical system.

摘要--------------------------------- i
Abstract---------------------------- ii
目錄------------------------------- iii
圖目錄------------------------------- v
表目錄------------------------------ vi
常用符號對照表--------------------- vii
1. 緒論------------------------------ 1
1.1. 研究動機------------------------ 1
1.2. 文獻回顧------------------------ 2
1.3. 論文概覽------------------------ 3
2. 轉向系統之硬體組成 --------------- 4
2.1. 轉向機構------------------------ 4
2.2. 轉向致動器---------------------- 6
3. 轉向系統之建模與控制 ------------- 8
3.1. 轉向系統模型建構---------------- 8
3.2. 模型合理性驗證 ----------------- 9
3.3. 轉向控制器設計 ---------------- 11
4. 用於回充策略設計之車輛建模------- 15
4.1. 車輛動態----------------------- 16
4.2. 車輪動態與輪胎特性------------- 17
4.3. 空氣阻力----------------------- 21
4.4. 電力系統效率------------------- 22
4.5. 驅動器散熱--------------------- 23
4.6. 剎車系統----------------------- 24
4.7. 行車工況與速度追蹤------------- 24
5. 實驗與模擬結果------------------- 26
5.1. 回充截止車速對能耗之影響------- 26
5.2. 扭矩比例分配對能耗之影響------- 27
6. 未來工作------------------------- 29
6.1. 轉向系統鑑別------------------- 29
6.2. 強化學習方法之設計與訓練------- 29
7. 參考文獻------------------------- 30

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