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

The Korean Society of Mechanical Engineers (대한기계학회)
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Performance Improvement of Integrated Chassis Control with Determination of Rear Wheel Steering Angle

후륜 조향각 결정을 통한 통합 섀시 제어기의 성능 향상

  • Yim, Seongjin (Dept. of Mechanical and Automotive Engineering, Seoul Nat'l Univ. of Sci. and Tech.)
  • 임성진 (서울과학기술대학교 기계자동차공학과)
  • Received : 2016.06.28
  • Accepted : 2016.10.28
  • Published : 2017.02.01
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Abstract

This paper presents a method to determine the rear steering angle in integrated chassis control with electronic stability control (ESC) and rear wheel steering (RWS). A control yaw moment needed to stabilize a vehicle should be distributed into the tire forces generated by the ESC and RWS. Weighted pseudo-inverse control allocation (WPCA) is adopted to determine the tire forces. Four methods are proposed to calculate the rear wheel steering angle. To validate the proposed methods, a simulation is performed using a vehicle simulation software package, CarSim. The simulation results show that the proposed method for determining the rear wheel steering angle improves the performance of the integrated chassis control.

본 논문은 자세 제어 장치(ESC)와 후륜 조향 장치(RWS)를 장착한 통합 섀시 제어기의 성능을 향상시키기 위해 후륜 조향각을 결정하는 방법을 제안한다. 차량을 안정화시키기 위해 필요한 제어 요 모멘트는 자세 제어 장치와 후륜 조향 장치를 이용하여 만들어진다. 각 장치의 타이어 힘을 결정하기 위해 의사역행렬 제어할당 방법을 적용한다. 제어기의 성능을 향상시키기 위해 후륜 조향 장치의 조향각을 결정하는 데에 네 가지 방법을 적용한다. 차량 시뮬레이션 패키지인 CarSim에서 시뮬레이션을 수행하여 제안된 방법들이 통합 섀시 제어기의 성능을 향상시킬 수 있음을 검증한다.

Keywords

References

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