• 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.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.1
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• pp.83-89
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• 2005

This paper presents vehicle stability control algorithm based on 3-DOF vehicle model. The brake control inputs have been directly derived from the sliding control law based on a three degree of freedom plane vehicle model with differential braking. The simulation has performed using a full nonlinear 3-dimensional vehicle model and the performance of the controller has been compared to that of a direct yaw moment controller. Simulation results show that the proposed controller can provide a vehicle with better performance than conventional controller with respect to brake actuation without compromising stability at critical driving conditions.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.6
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• pp.958-966
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• 2010

In this paper, we have proposed a integrated dynamic control architecture in 6WD(wheel drive)/6WS(wheel steering) vehicle for military applications. Since 6WD/6WS vehicle has inherent redundancy, the input variables to make any desired vehicle motion can not be determined uniquely. Therefore, optimal distribution method of tire forces is introduced, which is based on workload of each tire. Simulation result shows that this is effective for the energy minimization and dynamic performance enhancement. We also suggest how the integrated control with any failure mode should be reconstructed.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.6
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• pp.40-48
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• 2013

Recently, many types of electric vehicles including a heavy duty vehicle have been developed and released because of the better fuel economy and less gas products. In this study, research about an electric bus which utilizes the wheel motor drive system was conducted. The wheel motor is a motor connected to the wheel directly only with a simple gear so that the developer can utilize the space efficiently and the whole system efficiency will be better because of simple structure. However, because it is different from former types of vehicles which use the differential gear, the development of the integrated control logic is required in order to meet the vehicle stability and driving performance. The developed control logic is composed with direct yaw moment control, regenerative braking control and slip control logics. It is compared to the control logics which does not consist of direct yaw moment control and slip control when the vehicle is exposed in tough situations. For the unification of the control logic, a few maps were developed and applied to determine the output torque of each motor according to the driving status. As a result, it is shown that the developed control logic is more safe and well follow the target speed than the other control logic applied simulations.