本論文探討自行車煞車性能與其對安全性的影響，以直線運動中的全避震自行車為載具，分析避震器性能與煞車力的交互影響關係，主要方向在於針對碟煞全避震自行車的前、後避震系統作設計分析以及行進時煞車性能的評估，並探討所建立的數學運動模型其參數對人車系統的安全性。文中利用拉格朗齊法推導全避震自行車在二維平面的運動狀態及煞車行為的運動方程式，並討論運動參數的影響，其中包括各種路況下自行車煞車理想性能分佈曲線、前後煞車力分配時間延遲對煞車行為的影響、避震器對顛簸路面騎行行為的影響、煞車行為下避震器的震動反應，以及最短煞停距離的考慮，以理想煞車力分佈曲線之觀念進行騎行的運動模擬。
根據研究的目的設計一自行車測試平台，以量測車體在等速度行進下，不同煞車力的施加情況下所反應的煞車行為、前後輪荷重變化，以及煞車煞停的距離。

This thesis presents an investigation on the interaction between the characteristics of suspensions and disk-brake safety performance. The study limits the bicycle riding along a straight path. Therefore, a mathematical model for in-plane dynamic analysis of the bicycle equipped with suspension systems is first constructed.
The dynamic equations, which governing the linear and rotational motions of the front and rear tires, the rotations of the swing arm, rear suspension and frame, linear motion of the front suspension, are then developed based on Lagrange method. The braking performance and the vibrations of suspensions of a bicycle riding along continuously bumping road are also analyzed. The braking force mainly results from friction between tires and road. Larger braking force would make wheels lock-up to generate danger. An ideal braking performance curve is drawn based on the distribution of braking forces between front wheel and rear wheel. Riding comfort is effected upon the suspension parameters.

Experiments study the effects of braking performance on bicycle riding safety has been performed .An experimental platform is employed mainly for measuring the forces including braking force, lateral force, front-wheel and rear-wheel load. The braking distance could also be estimated in this experiment.

1. Tousi, S., et al, 1991, “Finite Disturbance Directional Stability of the Vehicles with Human Pilot Concerning Nonlinear Cornering Behavior,” Vehicle System Dynamics, Vol. 20, pp.21-55.
2. Legouis, T., Laneville, A., Bourassa, P., and Payre, G., 1986, “Characterization of Dynamic Vehicle Stability Using Two Models of the Human Pilot Behavior,” Vehicle System Dynamics, Vol. 15, pp.1-18.
3. Tousi, S., Bajaj, A. K., and Soedel, W., 1988, “On the Stability of a Flexible Vehicle Controlled by a Human Pilot,” Vehicle System Dynamics. Vol. 17, pp.37-56.
4. Shladover, S. E., Wormly, D. N., Richardson, H. H., and Fish, R., 1978, “Steering Controller Design for Automated Guideway Transit Vehicles.” Journal of Dynamic System, Measurement, and Control, ASME TRANS, 100, pp.1-8.
5. MacAdam, C. C., 1981, “Application of an Optimal Preview Control for Simulation of Closed-Loop Automated Driving,” IEEE Trans. On System, Man, and Cybernetics, Vol. SMC-11, No. 6, pp. 393-399.
6. Shannan, J. E., and Vanderploeg, M. J., 1989, “A Vehicle Handling Model with Active Suspension. Journal of Mechanisms, Transmissions, and Automation in Design,” ASME TRANS, Vol. 111, pp. 375-381.
7. Young, H. C., and Kim, J., 1996, “Stability Analysis of the Human Controlled Vehicle Moving Along a Curved Path,” Vehicle System Dynamics, Vol. 25, pp. 51-69.
8. 吳彥輝, “碟煞自行車煞車性能與安全性分析”, 碩士論文, 清華大學動力機械工程研究所, 2001年6月.
9. Weir, D. H., and McRuer, D., 1970, “Dynamics of Driver Vehicle Steering Control,” Automatica, Vol. 6, pp. 87-98.
10. Nakazawa, M., Isobe, O., and Watanabe. Y., 1995, “Braking Force Distribution Control for Improved Vehicle Dynamics and Brake Performance,” Vehicle System Dynamics, Vol. 24, pp.413-426.
11. Edge, C. Y., Guan, K. R., and Hsien, Y., 1995, “Developing of an Anti-Lock Brake System for Motorcycle,” Vol. 24, pp.427-444.
12. Vittore, C., Alberto, D. and Roberto, L., 2000, “Optimum Suspension Design for Motorcycle Braking,” Vehicle System Dynamics, Vol. 34, pp.175-198.
13. Dahlberg, T.,1977, “Parameteric Optimization of a 1-DOF Vehicle Travelling on a Randomly Profiled Road,” Journal of Sound and Vibration, Vol.55, No.2, pp. 245-253.
14. Dahlberg, T.,1978, “Ride Comfort and Road Holding of a 2-DOF Vehicle Travelling on a Randomly Profiled Road,” Journal of Sound and Vibration, Vol. 58, No.2, pp. 179-187.
15. Hac, A.,1985, “Suspension Optimization of a 2-DOF Vehicle Model Using a Stochastic Optimal Control Technique,” Journal of Sound and Vibration, Vol.100, No.3, pp. 343-357.
16. Hrovat, D.,1988, “Influence of Usprung Weight On Vehicle Ride Quality”, Journal of Sound and Vibration, Vol.124, No.3, pp. 497-516.
17. Hrovat, D.,1991, “Optimal Suspension Performance for 2-D Vehicle Models,” Journal of Sound and Vibration, Vol.146, No.1, pp. 93-110.
18. Matthias, W. , Falk R. , and Norbert, Z.,2002, “A Multibody Model for the Simulation of Bicycle Suspension Systems,” Vehicle System Dynamics, Vol. 37, pp.3-28.