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김제형(Je Hyoung Kim),박종현(Jong Hyeon Park) 한국자동차공학회 1998 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1998 No.11_2
In this paper, a method to estimate the lateral velocity of a vehicle using a nonlinear sliding-mode observer is proposed. Nowadays, the stability and improvements in maneuverability become more important issues. In order to control the vehicles to have more stability and maneuverability, it is necessary to have information on the vehicle states in real time. Information about the longitudinal velocity, lateral velocity, and yaw rate is especially important in that context. While the longitudinal velocity and yaw rate can be measured with appropriate sensors, the lateral velocity cannot be measured directly. This paper proposes a nonlinear sliding-mode observer to estimate the lateral velocity and the controller of TCS and 4WS to improve the vehicle stability and manuverability. The performance of observer and controller is shown through the computer simulations of a 8 degree-of-freedom full car model with a nonlinear tire model.<br/>