타이어 모델을 이용한 선회 모멘트의 최적 분배 제어 방법에 관한 연구 = A Study on Optimal Yaw Moment Distribution Control Based on Tire Model

다국어 초록 (Multilingual Abstract)

Vehicle stability control system can enhance the vehicle stability and handling in the emergency situation through the control of traction and braking forces at the individual wheels. To achieve the desired performance, we must exactly calculate compensated yaw moment, and control the wheel slip to generate braking force. But, the yaw moment is highly dependent on the status of tire dynamics at each wheel. In this study, we propose optimal yaw moment distribution controller based on tire model according to the normal forces, road condition, slip rate and slip angle to cope with nonlinear tire dynamics. The proposed controller for disturbing the desired tire slip rate makes use of both the tire nonlinear model and optimization technique. It minimizes the braking control force corresponding to the desired tire slip at each wheel. We show the feasibility and usefulness of the proposed controller under various driving conditions through computer simulations of nonlinear vehicle model.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 본론
• 3. 실험 검증
• 4. 결론
• References