대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제38권3호
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  • Pages.315-321
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  • 2014
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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최적 요모멘트 분배 방법을 이용한 고장 안전 통합 섀시 제어기 설계

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

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

본 논문은 전자제어식 조향 및 제동 장치를 장착한 차량에 대해 고장 안전 기능을 가지는 통합 섀시 제어 시스템을 제안한다. 통합 섀시 제어 시스템에서 상위 제어기는 슬라이딩 모드 제어 이론을 이용하여 제어 요모멘트를 만들어 낸다. 하위 제어기는 가중 의사-역행렬 기반 제어 분배 방법(WPCA)으로 제어 요모멘트를 전자제어식 조향 및 제동 장치의 타이어 힘으로 분배한다. WPCA 의 가변 가중치를 조절하여 구동기 혹은 센서의 고장에 대처할 수 있다. 이러한 상황에서 WPCA 방법으로 가변 가중치를 최적화하여 요모멘트 분배 성능을 향상시키기 위해 시뮬레이션을 이용한 최적화 방법을 제안한다. 제안된 방법의 타당성을 검증하기 위해 차량 시뮬레이션 패키지인 CarSim 에서 시뮬레이션을 수행한다.

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.

키워드

참고문헌

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피인용 문헌

  1. Optimum Yaw Moment Distribution with ESC and AFS Under Lateral Force Constraint on AFS vol.39, pp.5, 2015, https://doi.org/10.3795/KSME-A.2015.39.5.527