• Title, Summary, Keyword: Direct Yaw Moment Control

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Decoupling Control of 2WS Cars Using Direct Yaw Moment (직접요오모멘트를 이용한 이륜조향차량의 비결합 제어기 설계)

  • Choi, Jae-Weon;Cho, Chung-Nae
    • Journal of Institute of Control, Robotics and Systems
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    • v.11 no.9
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    • pp.761-767
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    • 2005
  • There exists a structural limit of 2WS cars that drivers would not like simultaneously to follow the desired path and attenuate moments resulting from disturbances because lateral acceleration and yaw rate are coupled inherently. In order to overcome the limit, the 4WS cars that have rear wheel steering as an additional input have been introduced. But the 4WS cars have disadvantages that much cost is required due to structural alteration, it is difficult to be used to the driving circumstances and tire performances are not efficient in nonlinear or large lateral acceleration ranges. Therefore, it is proposed that, in this paper, a robust controller is easy to apply to 2WS cars by using direct yaw moment, decouples lateral acceleration from yaw motion and is robust against disturbances and uncertainties of system parameters, and thus the proposed control method has the advantages of 4WS cars which can be achieved in 2WS cars.

A Study on the Pivot Steering Control of an In-Wheel Drive Vehicle with Trailing Arm Suspensions (인휠 구동 트레일링 암 형식 차량의 제자리 회전 조향 제어 연구)

  • Kim, Chi-Ung;Lee, Kyoung-Hoon;Woo, Kwan-Je
    • Journal of the Korean Society for Precision Engineering
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    • v.29 no.7
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    • pp.745-752
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    • 2012
  • The pivot steering of an individual wheel motor drive vehicle is an effective steering maneuver in the narrow road, but it has become a matter of concern that the torque input of each wheel is very difficult to determine. In this study, the independent yaw moment control was proposed for the smooth pivot steering control of an in-wheel drive vehicle. For this control method, the vertical forces of tires were estimated from the trailing arm dynamic model, and the yaw moments of individual wheels were calculated from the vehicle dynamic model. Dynamic simulation results showed that the independent yaw moment control was much more effective on the minimization of the instabilities of pivot steering in comparison with the conventional direct yaw moment control with yaw rate feedback.

Unified Chassis Control for Improvement of Vehicle Lateral Stability (차량 횡방향 안정성 향상을 위한 통합섀시 제어)

  • Cho, Wan-Ki;Yi, Kyoung-Su;Yoon, Jang-Yeol
    • Proceedings of the KSME Conference
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    • pp.1126-1131
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    • 2007
  • This paper presents unified chassis control (UCC) to improve the vehicle lateral stability. The unified chassis control implies combined control of active front steering (AFS), electronic stability control (ESC) and continuous damping control (CDC). A direct yaw moment controller based on a 2-D bicycle model is designed by using sliding mode control law. A direct roll moment controller based on a 2-D roll model is designed. The computed direct yaw moment and the direct roll moment are generated by AFS, ESP and CDC control modules respectively. A control authority of the AFS and the ESC is determined by tire slip angle. Computer simulation is conducted to evaluate the proposed integrated chassis controller by using the Matlab, simulink and the validated vehicle simulator. From the simulation results, it is shown that the proposed unified chassis control can provide with improved performance over the modular chassis control.

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Design of Control Logics for Improving Vehicle Dynamic Stability (차량 안정성 향상을 위한 제어기 설계)

  • 허승진;박기홍;이경수;나혁민;백인호
    • Transactions of the Korean Society of Automotive Engineers
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    • v.8 no.5
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    • pp.165-172
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    • 2000
  • The VDC(Vehicle Dynamic Control) is a control system whose target is to improve stability of a vehicle under lateral motion. A lateral vehicle motion, especially on a slippery road, can lead to a hazardous situation, and the situation can even worsen by the driver`s inappropriate response. In this paper, two VDC systems, a fuzzy-based controller and an LQR-based controller have been developed. The controllers take as input the yaw rate and the sideslip angle of either body or rear wheel, and they yield the direct yaw moment signal by which the vehicle can gain stability during cornering. Simulations have been conducted to evaluate the performance of the control system. The results indicated that the controllers can successfully improve vehicle stability under potentially dangerous driving conditions.

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A Lane-change Collision Avoidance Algorithm for Autonomous Vehicles and HILS(Hardware-In-the-Loop Simulation) Test (자율주행 차량의 충돌회피 차선변경 제어 알고리즘 개발과 HILS 시험)

  • 류제하;김종협
    • Transactions of the Korean Society of Automotive Engineers
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    • v.7 no.5
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    • pp.240-248
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    • 1999
  • This paper presents a lane-change collision avoidance control algorithm for autonomous vehicles that will be used in AHS(Automated Highway System). In the proposed control algorithm, nominal control inputs are generated by solving the inverse vehicle dynamic equations of motion for a lane-change maneuver. In addition, a corrective steering input from preview as well as DYC (Direct Yaw Moment Control) may be included to reduce unpredictable errors and to insure yaw directional stability, respectively. The performance of the algorithm is evaluated with an ABS HILS system which consist of 17 DOF vehicle model and real ABS hardware parts. The HILS simulation results show that the proposed algorithm may be used for emergency lane-change maneuvers for autonomous vehicles.

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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.

INTEGRATED VEHICLE CHASSIS CONTROL WITH A MAIN/SERVO-LOOP STRUCTURE

  • Li, D.;Shen, X.;Yu, F.
    • International Journal of Automotive Technology
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    • v.7 no.7
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    • pp.803-812
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    • 2006
  • In order to reduce the negative effects of dynamic coupling among vehicle subsystems and improve the handling performance of vehicle under severe driving conditions, a vehicle chassis control integration approach based on a main-loop and servo-loop structure is proposed. In the main-loop, in order to achieve satisfactory longitudinal, lateral and yaw response, a sliding mode controller is used to calculate the desired longitudinal, lateral forces and yaw moment of the vehicle; and in the servo-loop, a nonlinear optimizing method is adopted to compute the optimal control inputs, i.e. wheel control torques and active steering angles, and thus distributes the forces and moment to four tire/road contact patches. Simulation results indicate that significant improvement in vehicle handling and stability can be expected from the proposed chassis control integration.

Design of Vehicle Stability Control Algorithm Based on 3-DOF Vehicle Model (3자유도 차량모델 기반 차량 안정성 제어 알고리듬 설계)

  • Chung Taeyoung;Yi Kyongsu
    • 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.

Modeling and $H_{\infty}$ Optimal Control Design for a Hydraulic Unit in ESP (ESP 유압 유니트의 모델링 및 $H_{\infty}$ 최적제어)

  • You, Seung-Han;Hahn, Jin-Oh;Cho, Young-Man;Lee, Kyo-Il
    • Proceedings of the KSME Conference
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    • pp.733-738
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    • 2004
  • This paper deals with feedback control of a hydraulic unit for direct yaw moment control, a method used to actively maintain the dynamic stability of an automobile. The uncertain parameters and complex structure naturally call for empirical modeling of the hydraulic unit, which readily results in a control-oriented model with high fidelity. The identified model is cross-validated against experimental data under various conditions, which helps to establish model uncertainty. Then, the $H_{\infty}$ optimization technique is employed to synthesize a controller with guaranteed robust stability and performance against the model uncertainty. The performance of the synthesized controller is verified using experimental results, which shows the viability of the proposed approach in a real-world application.

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Improvement of the Yaw Motion for Electric Vehicle Using Independent Front Wheel Steering and Four Wheel Driving (독립 전륜 조향 및 4륜 구동을 이용한 전기 차량의 선회 운동 향상)

  • Jang, Jae-Ho;Kim, Chang-Jun;Kim, Sang-Ho;Kang, Min-Sung;Back, Sung-Hoon;Kim, Young-Soo;Han, Chang-Soo
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.1
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    • pp.45-55
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    • 2013
  • With the recent advancement of control method and battery technology, the electric vehicle have been researched to replace the conventional vehicle with electric vehicle with the view point of the environmental concerns and energy conservation. An electric vehicle which is equipped with the independent front steering system and in-wheel motors has advantage in terms of control. For example, the different torque which generated by left and right wheels directly can make yaw moment and the independent steering using outer wheel control is able to reduce the sideslip angle. Using of independent steering and driving system, the 4 wheel electric vehicle can improve a performance better than conventional vehicle. In this paper, we consider the method for improving the cornering performance of independent front steering system and in-wheel motor used electric vehicle with the compensated outer wheel angle and direct yaw moment control. Simulation results show that the method can improve the cornering performance of 4 wheel electric vehicle. We also apply the steering motor failure to steer the vehicle turned by the torque difference without steering. This paper describes an independent front steering and driving, consist of three parts; Vehicle Model, Control Algorithm for independent steering and driving and simulation. First, vehicle model is application of TruckSim software for independent front steering and 4 wheel driving. Second, control algorithm describes the reduced sideslip and direct yaw moment method in view of cornering performance. Last is simulation and verification.