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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Integrated Chassis Control with Electronic Stability Control and Active Front Steering under Saturation of Front Lateral Tire Forces

전륜 횡력의 포화를 고려한 ESC와 AFS의 통합 섀시 제어

  • Yim, Seongjin (Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology)
  • 임성진 (서울과학기술대학교 기계.자동차공학과)
  • Received : 2015.08.03
  • Accepted : 2015.09.17
  • Published : 2015.10.01
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Abstract

This article presents an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) under saturation of front lateral tire force. Regardless of the use of AFS, the front lateral tire forces can be easily saturated. Under the saturated front lateral tire force, AFS cannot be effective to generate a control yaw moment needed for the integrated chassis control. In this paper, new integrated chassis control is proposed in order to limit the use of AFS in case the front lateral tire force is saturated. Weighed pseudo-inverse control allocation (WPCA) with variable weight is adopted to adaptively use the AFS. To check the effectiveness of the proposed scheme, simulation is performed on a vehicle simulation package, CarSim. From simulation, the proposed integrated chassis control is effective for vehicle stability control under saturated front lateral tire force.

Keywords

References

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