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김주곤(Joonon Kim),유제홍(Jehong Yoo) 한국자동차공학회 2004 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
Both safety and steering are very important factor in driving vehicle. ESP (Electronic Stability Program) system has good merits in sides of safety. It is important that vehicle model is control reference in realization of the ESP system. In this paper, a vehicle model program based on GUI is proposed for effective development of the ESP system. This vehicle model has 2-DOF. The bicycle model expresses both yaw motion and slip angle at the center of vehicle body. Control input in ESP system is calculated from the difference of yaw motion. The program of ESP vehicle model consists of three parts: input data (which are obtained by experiment vehicle data).modeling of vehicle (which is composed of understeer gradient of vehicle dynamic characteristics and linear bicycle model at 80kph and 0.4g, nonlinear gains) and simulation for verification (comparison of experimental data and bicycle model data). Nonlinear gain map of vehicle model is obtained from difference between experiment yaw rate and model yaw rate. In total range of velocity and steering angle, gain map of vehicle model is interpolated linearly. Through this research, effectiveness and convenience of vehicle modeling in the ESP system are improved .