|제목(국문)||자세 제어 장치와 능동 후륜 조향을 이용한 최적 요 모멘트 분배|
|제목(영문)||Optimum Yaw Moment Distribution with Electronic Stability Control and Active Rear Steering|
This article presents an optimum yaw moment distribution scheme for a vehicle with electronic stability control (ESC) and active rear steering (ARS). After computing the control yaw moment in the yaw moment controller, it should be distributed into tire forces，generated by ESC and ARS* In this paper, yaw moment distribution is formulated as an optimization problem. New objective function is proposed to tune the relative magnitudes of the tire forces. Weighed pseudo-inverse control allocation (WPCA) is adopted to solve the problem. To check the effectiveness of the proposed scheme, simulation is performed on a vehicle simulation package, CarSim. From the simulation, the proposed optimum yaw moment distribution scheme is shown to effective for vehicle stability control.
|keyword||yaw moment distribution, electronic stability control (ESC), active rear steering (ARS), weighted pseudo-inverse control allocation (WPCA)|