Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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Robust Steering Control with Side Slip and Yaw Damping Compensation Using Time Delay Control

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  • Lee, Seon Bong (Dept. of Mechanical and Automotive Engineering, Keimyung University) ;
  • Choi, Hae Woon (Dept. of Mechanical and Automotive Engineering, Keimyung University)
  • 이선봉 (계명대학교 기계자동차공학과) ;
  • 최해운 (계명대학교 기계자동차공학과)
  • Received : 2019.01.04
  • Accepted : 2019.02.11
  • Published : 2019.04.30
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Abstract

In this paper, we report a robust steering control using time delay control for the vehicle dynamics variation due to tire/road contact condition variation, the lateral disturbance force due to the side wind, and the yaw disturbance moment due to the difference between the left and right tires' pneumatic pressure. We controlled the side slip and yaw damping compensation for rapid steering at the high velocity of the vehicle. Based on the developed control, the driver can only consider the desired path without concerning on the vehicle dynamics variation, disturbances, and undesired side slip and yaw oscillations. Simulation results show that robustness from the vehicle dynamics variation and disturbances was achieved by using the developed time delay control. We evaluated the side slip and yaw damping compensation capability for the rapid steering at the high velocity of the vehicle in the cases of three control methods.

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References

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