Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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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

  • 김지웅 (현대로템(주) 기술연구소) ;
  • 이경훈 (현대로템(주) 기술연구소) ;
  • 우관제 (현대로템(주) 기술연구소)
  • Received : 2011.12.01
  • Accepted : 2012.04.26
  • Published : 2012.07.01
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Abstract

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.

Keywords

References

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