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http://dx.doi.org/10.3795/KSME-A.2014.38.3.315

Integrated Chassis Control System with Fail Safety Using Optimum Yaw Moment Distribution  

Yim, Seongjin (Dept. of Mechanical and Automotive Engineering, Seoul Nat'l Univ. of Sci. and Tech)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.38, no.3, 2014 , pp. 315-321 More about this Journal
Abstract
This paper presents an integrated chassis control system with fail safety using optimum yaw moment distribution for a vehicle with steer-by-wire and brake-by-wire devices. The proposed system has two-level structure: upper- and lower-level controllers. In the upper-level controller, the control yaw moment is computed with sliding mode control theory. In the lower-level controller, the control yaw moment is distributed into the tire forces of active front steering(AFS) and electronic stability control(ESC) with the weighted pseudo-inverse based control allocation(WPCA) method. By setting the variable weights in WPCA, it is possible to take the sensor/actuator failure into account. In this framework, it is necessary to optimize the variables weights in order to enhance the yaw moment distribution. For this purpose, simulation-based tuning is proposed. To show the effectiveness of the proposed method, simulations are conducted on a vehicle simulation package, CarSim.
Keywords
Fault Safety; Fault-Tolerant Control; Integrated Chassis Control; Steer-by-Wire; Brake-by-Wire;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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