Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Optimum Yaw Moment Distribution with ESC and AFS Under Lateral Force Constraint on AFS

AFS 횡력 제한조건 하에서 ESC와 AFS를 이용한 최적 요 모멘트 분배

  • Yim, Seongjin (Dept. of Mechanical and Automotive Engineering, Seoul Nat'l Univ. of Sci. and Tech.) ;
  • Lee, Jungjae (Dept. of Mechanical and Automotive Engineering, Seoul Nat'l Univ. of Sci. and Tech.) ;
  • Cho, Sung Ik (Graduate School of Industry, Dept. of Automotive Engineering, Seoul Nat'l Univ. of Sci. and Tech.)
  • 임성진 (서울과학기술대학교 기계.자동차공학과) ;
  • 이정재 (서울과학기술대학교 기계.자동차공학과) ;
  • 조성익 (서울과학기술대학교 산업대학원 자동차공학과)
  • Received : 2014.10.23
  • Accepted : 2015.03.31
  • Published : 2015.05.01
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Abstract

This paper presents an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) under lateral force constraint on AFS. The control yaw moment is calculated using a sliding mode control. The tire forces generated by ESC and AFS are determined using weighted pseudo-inverse based control allocation (WPCA) in order to generate the control yaw moment. On a low friction road, AFS is not effective when the lateral tire forces of front wheels are easily saturated. To solve problem, the lateral force of AFS is limited to its maximum and the braking of ESC is applied with WPCA. To evaluate the effectiveness of the proposed method, a simulation was performed on the vehicle simulation package, $CarSim^{(R)}$. From the simulation, it was verified that the proposed method could enhance the maneuverability and lateral stability if the lateral force of AFS exceeds its maximum.

본 논문에서는 능동 전륜 조향장치(AFS)에 의한 횡력의 크기가 제한된 상황에서 자세 제어장치(ESC)와 능동 전륜 조향(AFS)을 이용한 통합 새시 제어기의 최적 요모멘트 분배 방법을 제안한다. 차량을 안정화시키는데 필요한 제어 요모멘트는 슬라이딩모드 제어이론을 이용하여 구한다. 가중 역행렬 기반 제어 할당 방법을 이용하여 제어 요모멘트를 ESC의 제동력과 AFS의 추가 조향각으로 분배한다. 저마찰 노면에서 AFS에 의한 횡력이 물리적 최대값을 초과하는 경우 제어 요모멘트를 제대로 만들어내지 못하므로 가중 역행렬 기반 제어 할당 방법을 이용하여 AFS에 의한 횡력의 크기를 제한하고 ESC의 제동력으로 부족한 제어 요모멘트를 보상하는 방법을 제안한다. 차량 시뮬레이션 패키지인 $CarSim^{(R)}$에서 시뮬레이션을 수행하여 AFS에 의한 횡력이 물리적 최대값을 초과하는 경우 제안된 방법이 차량의 조종 안정성과 횡방향 안정성을 향상시킨다는 사실을 검증했다.

Keywords

References

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