Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지
DOI QR코드

DOI QR Code

Fault-Tolerant Driving Control of Independent Steer-by-Wire System for 6WD/6WS Vehicles Using High Slip

고슬립을 이용한 6 륜구동/6 륜조향 차량 고장 안전 주행 제어

  • Nah, Jae Won (Graduate School of Convergence Science and Technology, Seoul Nat'l Univ.) ;
  • Kim, Won Gun (Program in Automotive Engineering, Seoul Nat'l Univ.) ;
  • Yi, Kyongsu (School of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.) ;
  • Lee, Jongseok (Samsung Techwin) ;
  • Lee, Daeok (Agency for Defense Development)
  • Received : 2012.05.03
  • Accepted : 2013.02.05
  • Published : 2013.06.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper describes a fault-tolerant driving control strategy for an independent steer-by-wire system in sixwheel-drive/six-wheel-steering vehicles. An algorithm has been designed to realize vehicle maneuverability that is as close as possible to that of non-faulty vehicles by inducing high slip ratio of the wheel through a faulty steer-by-wire system in order to reduce the lateral tire force, which is resistant to the yaw motion. Considering the transition of the longitudinal tire force of a wheel with a faulty steer-by-wire component, the longitudinal tire forces are optimally distributed to the other wheels. Fault-tolerant driving performance has been investigated via computer simulations. Simulation studies show that the proposed algorithm can significantly improve the maneuverability of a vehicle with a faulty steer-by-wire system as compared to the optimal traction distribution method.

본 논문은 6 륜 독립구동/독립조향 차량의 독립 스티어-바이-와이어 장치의 고장 안전 주행 제어방법을 제시하였다. 조향부 고장 휠의 횡방향 타이어 힘이 차량 선회 운동에 저항력으로 작용할 수 있으므로, 이를 줄이기 위하여 본 고장 안전 주행 제어 알고리즘은 조향부 고장 휠에 높은 슬립률이 발생하도록 토크 입력을 가한다. 고슬립으로 인한 조향부 고장 휠의 종방향 타이어 힘 증가를 고려하기 위하여 종방향 타이어 힘을 추정하여 고장나지 않은 휠의 구동력 최적 분배에 구속 조건에 포함시킨다. 개루프 조향 및 폐루프 조향 시뮬레이션 결과 조향부 고장이 발생한 차량의 주행시 고장을 고려하지 않은 최적 구동력 분배 제어에 비하여 본 알고리즘 적용시 차량의 주행 성능이 보정됨을 확인하였다.

Keywords

References

  1. Huh, K., Jhang, K., Oh, J., Kim, J. and Hong, J., 1999, "Development of a Simulation Tool for the Cornering Performance Analysis of 6WD/6WS Vehicles," KSME International Journal, Vol. 13, No. 3, pp. 211-220. https://doi.org/10.1007/BF02970479
  2. An, S.J. Yi, K., Jung, G., Lee, K.I. and Kim, Y.W., 2008, "Desired Yaw Rate and Steering Control Method During Cornering for a Six-wheeled Vehicle," IJAT, Vol. 9, No. 2, pp. 173-181.
  3. Kim, W. G., Kang, J. Y. and Yi, K., 2011, "Drive Control System Design for Stability and Maneuverability of a 6WD/6WSVehicle," IJAT, Vol. 12, No. 1, pp. 67-74.
  4. Hac, A., 2006, "Control of Brake- and Steer-by-Wire Systems During Brake Actuator Failure," 2006 SAE World Congress.
  5. Gillespie, T. D., 1992, "Fundamentals of Vehicle Dynamics," SAE International.
  6. Sohel Anwar and Lei Chen, 2007, "An Analytical Redundancy-Based Fault Detection and Isolation Algorithm for a Road-Wheel Control Subsystem in a Steer-by-Wire System," IEEE Transactions on Vehicular Technology, Vol. 56, No. 5.
  7. Im, J.S., Ozaki, F., Yeu, T.K. and Kawaji, S., 2009, "Model-Based Fault Detection and Isolation in Steerby- Wire Vehicle Using Sliding Mode Observer," Journal of Mechanical Science and Technology 23, pp. 1991-1999. https://doi.org/10.1007/s12206-009-0357-9
  8. Kim, W., Yi, K. and Lee, J., 2011, "Development of a Driving Control Algorithm and Performance Verification Using Real-Time Simulator for a 6WD/6WS Vehicle," SAE Technical Paper 2011-01-0262.
  9. Kim, S.-H., Kim, D.-H., Kim, C.-J., Kim, Y.-R., Choi, J.-Y. and Han, C.-S., 2010, "A Study on Motion Control of 6WD/6WS Vehicle Using Optimum Tire Force Distribution Method," International Conference on Control, Automation and Systems (ICCAS), pp.1502-1507.
  10. Ray, L.R., 1997, "Nonlinear Tire Force Estimation and Road Friction Identification: Simulation and Experiments," Automatica, vol. 33, no. 10, pp.1819- 1833 . https://doi.org/10.1016/S0005-1098(97)00093-9
  11. Pacejka, H.B. and Bakker, E., 1992, "The magic formula tyre model," Vehicle System Dynamics, Vol. 21, Supplement 001.
  12. Zhang, Q., Liu, G., Wang, Y. and Zhou, T., 2004, "A Study of Calculation Method of Wheel Angular Acceleration in ABS System," Proc. 2004 Int. Conf. Information Acquisition, pp. 147-150.