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

The Korean Society of Mechanical Engineers (대한기계학회)
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Adaptive Variable Weights Tuning in an Integrated Chassis Control for Lateral Stability Enhancement

횡방향 안정성 향상을 위한 통합 섀시 제어의 적응 가변 가중치 조절

  • Yim, Seongjin (Dept. of Mechanical and Automotive Engineering, Seoul Nat'l Univ. of Sci. and Tech.) ;
  • Kim, Wooil (Dept. of Mechanical and Automotive Engineering, Seoul Nat'l Univ. of Sci. and Tech.)
  • 임성진 (서울과학기술대학교 기계.자동차공학과) ;
  • 김우일 (서울과학기술대학교 기계.자동차공학과)
  • Received : 2015.07.08
  • Accepted : 2015.11.30
  • Published : 2016.01.01
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Abstract

This paper presents an adaptive variable weights tuning system for an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) for lateral stability enhancement. After calculating the control yaw moment needed to stabilize a vehicle with a controller design method, it is distributed into the tire forces generated by ESC and AFS using weighted pseudo-inverse-based control allocation (WPCA). On a low friction road, lateral stability can deteriorate due to high vehicle speed. To cope with the problem, adaptive tuning rules on variable weights of the WPCA are proposed. To check the effectiveness of the proposed method, a simulation was performed on the vehicle simulation package, CarSim.

본 논문에서는 차량의 횡방향 안정성을 향상시키기 위해 자세 제어 장치(ESC)와 능동 전륜 조향(AFS)을 이용하는 통합 새시 제어의 적응 가변 가중치 조절 방법을 제안한다. 제어기 설계 방법론을 적용하여 차량을 안정화시키는데 필요한 제어 요 모멘트를 구한 후 이를 가중 역행렬 기반 제어 할당 방법(WPCA)을 이용하여 ESC 의 제동력과 AFS 의 추가 조향각으로 분배한다. 저마찰 노면에서는 차량의 속도가 높다면 횡슬립각이 증가하여 횡방향 안정성이 저하되므로 이를 방지하기 위해 WPCA 의 가변가중치를 상황에 따라 조절하는 방법을 제안한다. 차량 시뮬레이션 패키지인 CarSim 에서 시뮬레이션을 수행하여 제안된 방법이 통합 섀시 제어기의 횡방향 안정성을 향상시킨다는 사실을 검증한다.

Keywords

References

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