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http://dx.doi.org/10.3795/KSME-A.2015.39.5.527

Optimum Yaw Moment Distribution with ESC and AFS Under Lateral Force Constraint on AFS  

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.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.39, no.5, 2015 , pp. 527-534 More about this Journal
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.
Keywords
Optimum Yaw Moment Distribution; Electronic Stability Control; Active Front Steering; Lateral Force Saturation; Weighted Pseudoinverse based Control Allocation;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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