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능동 전륜 조향각에 제한을 가지는 샤시 통합 제어 시스템을 위한 최적 요 모멘트 분배
임성진(Seongjin Yim),윤장열(Janyeol Yoon),조완기(Wanki Jo),이경수(Kyongsu Yi) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
This paper describes an optimum distribution of yaw moment for unified chassis control (UCC) with the limitation on active front steering(AFS) angle. Tn the literatures, an UCC is assumed to have no limitation on AFS angle. However, there is a physical limitation on AFS angle in real application. Following the previous method, a new optimum distribution method of yaw moment is proposed to take this limitation into account. This method derives an optimum longitudinal/lateral force with KKT optimality condition. Simulation is performed to validate the proposed method. Simulation results indicate that the limitation on AFS angle increases longitudinal tire force, and then, reduces the vehicle speed and side-slip angle.