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

최적 요모멘트 분배 방법을 이용한 고장 안전 통합 섀시 제어기 설계

  • Yim, Seongjin (Dept. of Mechanical and Automotive Engineering, Seoul Nat'l Univ. of Sci. and Tech)
  • 임성진 (서울과학기술대학교 기계.자동차공학과)
  • Received : 2013.08.09
  • Accepted : 2014.01.06
  • Published : 2014.03.01


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.


Fault Safety;Fault-Tolerant Control;Integrated Chassis Control;Steer-by-Wire;Brake-by-Wire


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