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비선형 타이어모델을 이용한 완전능동형 4WS 제어방법에 관한 연구
김형내(Hyung-Nae Kim),김석일(Seok-Il Kim),김동룡(Dong-Ryong Kim),김건상(Kun-Sang Kim) 한국자동차공학회 1996 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1996 No.6_1
The understeer characteristics of four wheel steering system(4WS system) in the high speed region has a negative effect upon the yaw velocity, leading to a decrease in the handling ability of vehicle. As a result, even if the side slip angle of vehicle can be kept up a minimum. the driver must compensate the decrease in the yaw velocity by increasing the steering wheel angle ,in order to track the desired vehicle path. In this study, to keep the side slip angle of vehicle at zero and achieve the suitable yaw velocity in vehicle motion, a full active 4WS system(FA 4WS system) with the actively steerable front and rear wheels is presented based on the nonlinear vehicle model and the model following control of yaw velocity. And the analysis results show the fact that, besides the excellent stability of vehicle, the FA 4WS system is able to realize the better handling performance of vehicle than the previous 4WS systems in the high speed region.<br/> <br/>