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Yaw Rate 제어 기반의 차량 안정성 향상에 관한 연구
조준상(Joon-Sang Jo),김성호(Sung-Ho Kim),유승한(Seung-Han you),정지열(Ji Yoel Joeng),이상호(Sangho Lee),이교일(Kyo-Il Lee) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
Electronics Stability Control(ESC) system is an active vehicle safety system and stabilizes dynamic maneuver of a vehicle with differential braking. In this study, in order to enhance vehicle handling, lateral stability and roll stability, desired yaw rate is properly choosed and a yaw rate controller is designed based on sliding mode control theory. To generate total yaw moment required from the yaw rate controller, each brake pressure is distributed via brake pressure distribution strategy with optimal braking/brake releasing wheel decision. Proposed ESC controller is verified via CarSim simulation with single lane change, double lane change, slalom test and fishhook test.
유승한(Seung-Han You),조준상(Joon-Sang Jo),유승진(Seungjin Yoo),한진오(Jin-Oh Hahn),이교일(Kyo Il Lee) 한국자동차공학회 2005 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2005 No.11_2
This paper deals with the design of a feedback yaw rate controller based on gain-scheduled H∞ optimal control, which enables the reduction of sideslip as well as the prevention of vehicle rollover. The uncertain factors such as vehicle mass and cornering stiffness in the vehicle yaw rate dynamics naturally call for the robustness of the feedback controller, which leads to the application of H." optimization technique to synthesize a controller with guaranteed robust stability and performance against the model uncertainty. The lumped disturbance due to the parametric uncertainties is estimated using the disturbance observer to assess the correct value of the compensating yaw moment. The braking force distribution for generating artificial yaw moment is implemented by effective actuation of braking wheels. Simulation results indicate that the proposed gain-scheduled H∞ optimal yaw rate controller can decently improve the lateral stability of an automobile.
차량의 전복 방지 및 조향 안정성 향상을 위한 VDC 시스템의 제어기 개발
유승진(Seungjin Yoo),조준상(Joon-Sang Jo),유승한(Seung-Han You),이교일(Kyo Il Lee) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper presents the design of modularized controller for the VDC(Vehicle Dynamics Control). With this design scheme, the controller can be decomposed in the following two parts : vehicle dynamics controller and brake pressure controller. For vehicle dynamics controller, sliding mode controllers are designed that are activated in the order of priority to prevent rollover, excessive body sideslip angle, as well as understeer/oversteer of the vehicle. While, the brake pressure controller is designed to make brake pressures in each wheel track the desired pressures calculated in the vehicle dynamics controller. A feedback controller as well as a brake pressure estimator is designed based on the developed mathematical model for VDC hydraulic system. The results of the HILS(Hardware In the Loop Simulation) show that the roll angle, body sideslip angle and yaw rate responses of the vehicle are improved in the several driving scenarios.