• Title/Summary/Keyword: 능동 후륜 조향

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Integrated Chassis Control with Electronic Stability Control and Active Rear Steering (자세 제어 장치와 능동 후륜 조향을 이용한 통합 섀시 제어)

  • Yim, Seongjin
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.38 no.11
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    • pp.1291-1297
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    • 2014
  • This paper proposes integrated chassis control (ICC) with electronic stability control (ESC) and active rear steering (ARS). Direct yaw moment control is used to generate a control yaw moment. A weighted pseudo-inverse-based control allocation (WPCA) method is adopted to distribute the control yaw moment into tire forces, generated by ESC and ARS. Simulation-based tuning of variables weights in the WPCA is used to enhance the yaw moment distribution performance. Simulations using the vehicle simulation software $CarSim^{(R)}$ show that the proposed ICC is effective in improving maneuverability and lateral stability.

Adaptive Algorithms for Yaw Moment Distribution with ESC and ARS (적응 알고리즘을 이용한 ESC와 ARS 기반 요 모멘트 분배)

  • Yim, Seongjin
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.40 no.12
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    • pp.997-1003
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    • 2016
  • This paper presents an application of adaptive algorithms for yaw moment distribution with electronic stability control (ESC) and active rear steering (ARS) in integrated chassis control (ICC). Integrated chassis control consists of upper- and lower-level controllers. In the upper-level controller, the control yaw moment is computed with sliding mode control required to stabilize a vehicle. In the lower-level controller, adaptive algorithms are applied to determine the required brake pressure of ESC and the necessary steering angle of ARS, in order to generate the control yaw moment. Simulation is performed using the vehicle simulation package CarSim to validate the proposed method.

Development of an Integrated Control System between Active Front Wheel System and Active Rear Brake System (능동전륜조향장치 및 능동후륜제동장치의 통합제어기 개발)

  • Song, Jeong-Hoon
    • Transactions of the Korean Society of Automotive Engineers
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    • v.20 no.6
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    • pp.17-23
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    • 2012
  • An integrated dynamic control (IDCF) with an active front steering system and an active rear braking system is proposed and developed in this study. A fuzzy logic controller is applied to calculate the desired additional steering angle and desired slip of the rear inner wheel. To validate IDCF system, an eight degree of freedom, nonlinear vehicle model and a sliding mode wheel slip controller are also designed. Various road conditions are used to test the performance. The results show that the yaw rate of IDCF vehicle followed the reference yaw rate and reduced the body slip angle, compared with uncontrolled vehicle. Thus, the IDCF vehicle had enhanced lateral stability and controllability.

A Study on Integrated Control of AFS and ARS Using Fuzzy Logic Control Method (Fuzzy Logic 제어를 이용한 AFS와 ARS의 통합제어에 관한 연구)

  • Song, Jeonghoon
    • Transactions of the Korean Society of Automotive Engineers
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    • v.22 no.1
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    • pp.65-70
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    • 2014
  • An Integrated Dynamics Control system with four wheel Steering (IDCS) is proposed and analysed in this study. It integrates and controls steer angle of front and rear wheel simultaneously to enhance lateral stability and steerability. An active front steer (AFS) system and an active rear steer (ARS) system are also developed to compare their performances. The systems are evaluated during brake maneuver and several road conditions are used to test the performances. The results showed that IDCS vehicle follows the reference yaw rate and reduces side slip angle very well. AFS and ARS vehicles track the reference yaw rate but they can not reduce side slip angle. On split-${\mu}$ road, IDCS controller forces the vehicle to go straight ahead but AFS and ARS vehicles show lateral deviation from centerline.

Design and Evaluation of AFS and ARS Controllers with Sliding Mode Control and Fuzzy Logic Control Method (Sliding Mode Control 및 Fuzzy Logic Control 방법을 이용한 AFS 및 ARS 제어기 설계 및 성능 평가)

  • Song, Jeonghoon
    • Transactions of the Korean Society of Automotive Engineers
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    • v.21 no.2
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    • pp.72-80
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    • 2013
  • This study is to develop and evaluate an AFS and an ARS controllers to enhance lateral stability of a vehicle. A sliding mode control (SMC) and a fuzzy logic control (FLC) methods are applied to calculate the desired additional steering angle of AFS equipped vehicle or desired rear steer angle of ARS equipped vehicle. To validate AFS and ARS systems, an eight degree of freedom, nonlinear vehicle model and an ABS controllers are also used. Several road conditions are used to test the performances. The results showed that the yaw rate of the AFS and the ARS vehicle followed the reference yaw rate very well within the adhesion limit. However, the AFS improves the lateral stability near the limit compared with the ARS. Because the SMC and the FLC show similar vehicle responses, performance discrimination is small. On split-${\mu}$ road, the AFS and the ARS vehicle had enhanced the lateral stability.

Optimum Yaw Moment Distribution with Electronic Stability Control and Active Rear Steering (자세 제어 장치와 능동 후륜 조향을 이용한 최적 요 모멘트 분배)

  • Yim, Seongjin
    • Journal of Institute of Control, Robotics and Systems
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    • v.20 no.12
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    • pp.1246-1251
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    • 2014
  • This article presents an optimum yaw moment distribution scheme for a vehicle with electronic stability control (ESC) and active rear steering (ARS). After computing the control yaw moment in the yaw moment controller, it should be distributed into tire forces, generated by ESC and ARS. In this paper, yaw moment distribution is formulated as an optimization problem. New objective function is proposed to tune the relative magnitudes of the tire forces. Weighed pseudo-inverse control allocation (WPCA) is adopted to solve the problem. To check the effectiveness of the proposed scheme, simulation is performed on a vehicle simulation package, CarSim. From the simulation, the proposed optimum yaw moment distribution scheme is shown to effective for vehicle stability control.

Reducing the Minimum Turning Radius of the 2WS/2WD In-Wheel Platform through the Active Steering Angle Generation of the Rear-wheel Independently Driven In-Wheel Motor (후륜 독립 구동 인 휠 모터의 능동적 조향각 생성을 통한 2WS/2WD In-Wheel 플랫폼의 최소회전 반경 감소)

  • Taehyun Kim;Daekyu Hwang;Bongsang Kim;Seonghee Lee;Heechang Moon
    • The Journal of Korea Robotics Society
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    • v.18 no.3
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    • pp.299-307
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    • 2023
  • In the midst of accelerating wars around the world, unmanned robot technology that can guarantee the safety of human life is emerging. ERP-42 is a modular platform that can be used according to the application. In the field of defense, it can be used for transporting supplies, reconnaissance and surveillance, and medical evacuation in conflict areas. Due to the nature of the military environment, atypical environments are predominant, and in such environments, the platform's path followability is an important part of mission performance. This paper focuses on reducing the minimum turning radius in terms of improving path followability. The minimum turning radius of the existing 2WS/2WD in-wheel platform was reduced by increasing the torque of the independent driving in-wheel motor on the rear wheel to generate oversteer. To determine the degree of oversteer, two GPS were attached to the center of the front and rear wheelbases and measured. A closed-loop speed control method was used to maintain a constant rotational speed of each wheel despite changes in load or torque.