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

The Korean Society of Mechanical Engineers (대한기계학회)
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Adaptive Algorithms for Yaw Moment Distribution with ESC and ARS

적응 알고리즘을 이용한 ESC와 ARS 기반 요 모멘트 분배

  • Yim, Seongjin (Dept. of Mechanical and Automotive Engineering, Seoul Nat'l Univ. of Sci. and Tech.)
  • 임성진 (서울과학기술대학교 기계자동차공학과)
  • Received : 2016.02.18
  • Accepted : 2016.09.26
  • Published : 2016.12.01
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Abstract

This paper presents an application of adaptive algorithms for yaw moment distribution with electronic stability control (ESC) and active rear steering (ARS) in integrated chassis control (ICC). Integrated chassis control consists of upper- and lower-level controllers. In the upper-level controller, the control yaw moment is computed with sliding mode control required to stabilize a vehicle. In the lower-level controller, adaptive algorithms are applied to determine the required brake pressure of ESC and the necessary steering angle of ARS, in order to generate the control yaw moment. Simulation is performed using the vehicle simulation package CarSim to validate the proposed method.

본 논문은 자세 제어 장치와 능동 후륜 조향장치를 가지는 통합 섀시 제어에서 요 모멘트 분배를 위해 적응 알고리즘을 적용하는 방법을 제안한다. 통합 섀시 제어는 상위제어기와 하위제어기로 구성된다. 상위제어기에서 슬라이딩 모드 제어 이론을 이용하여 차량을 안정화시키는데 필요한 제어 요 모멘트를 계산한다. 하위제어기에서는 제어 요 모멘트를 만들어 내기 위해 자세 제어 장치의 제동 압력과 능동 후륜 조향장치의 조향각을 결정하는 데에 적응 알고리즘을 적용한다. 차량 시뮬레이션 패키지인 CarSim에서 시뮬레이션을 수행하여 제안된 방법의 타당성을 검증한다.

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References

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