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http://dx.doi.org/10.22680/kasa2021.13.1.006

Yaw Moment Control for Modification of Steering Characteristic in Rear-driven Vehicle with Front In-wheel Motors  

Cha, Hyunsoo (서울대학교 기계항공공학부)
Joa, Eunhyek (서울대학교 기계항공공학부)
Park, Kwanwoo (서울대학교 기계항공공학부)
Yi, Kyongsu (서울대학교 기계항공공학부)
Park, Jaeyong (현대자동차 연구개발본부)
Publication Information
Journal of Auto-vehicle Safety Association / v.13, no.1, 2021 , pp. 6-13 More about this Journal
Abstract
This paper presents yaw moment control for modification of steering characteristic in rear-driven vehicle with front in-wheel motors (IWMs). The proposed control algorithm is designed to modify yaw rate response of the test vehicle. General approach for modification of steering characteristic is to define the desired yaw rate and track the yaw rate. This yaw rate tracking method can cause the chattering problem because of the IWM actuator response. Large overshoot and settling time in IWM torque response can amplify the oscillation in control input and yaw rate. To resolve these problems, open-loop IWM controller for cornering agility was designed to modify the understeer gradient of the vehicle. The proposed algorithm has been investigated via the computer simulations and the vehicle tests. The performance evaluation has been conducted on dry asphalt using E-segment test vehicle. The performance of the proposed algorithm has been compared to general yaw rate tracking algorithm in the vehicle tests. It has been shown that the proposed control law improved the cornering agility without chattering problem.
Keywords
In-wheel motor; Open-loop control; Yaw moment control; Vehicle Dynamics;
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