Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Optimum Yaw Moment Distribution with Electronic Stability Control and Active Rear Steering

자세 제어 장치와 능동 후륜 조향을 이용한 최적 요 모멘트 분배

  • Yim, Seongjin (Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology)
  • 임성진 (서울과학기술대학교 기계.자동차공학과)
  • Received : 2014.07.03
  • Accepted : 2014.10.06
  • Published : 2014.12.01
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Abstract

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.

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References

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