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극한성능 향상을 위한 4WD, ESC, ECS 통합 샤시 제어
좌은혁(Eunhyek Joa),이경수(Kyongsu Yi),김길수(Kilsoo Kim) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
This paper presents an integrated chassis control of 4WD(Four wheel drive), ESC(Electronic stability control), and ECS(Electronic controlled suspension) for limit handling. The proposed algorithm consists of three layers : 1) Supervisor, which determine target yaw rate and target velocity from steering wheel angle and acceleration pedal, respectively, 2) Upper level controller, which calculate generalized force to track target values in the manner of sliding mode control method, 3) Lower level controller, which optimally allocates generalized force to actuators. In this study, to achieve limit handling of vehicle, the novel cost function is proposed. The main concept of the cost function is kept the tire stable by monitoring tire saturation with slip information. The proposed algorithm is validated via Matlab/Carsim co-simulation. Compared to base and ESC/4WD module, the proposed algorithm shows stable performance at the limit. The results show that with ESC/4WD modules, the performance at the limit is enhanced, but the yaw rate is oscillated. ECS module can reduce yaw rate oscillation by allocating vertical force.