Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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Yaw Moment Control for Modification of Steering Characteristic in Rear-driven Vehicle with Front In-wheel Motors

전륜 인휠모터 후륜구동 차량의 선회 특성 변형을 위한 요모멘트 제어

  • 차현수 (서울대학교 기계항공공학부) ;
  • 좌은혁 (서울대학교 기계항공공학부) ;
  • 박관우 (서울대학교 기계항공공학부) ;
  • 이경수 (서울대학교 기계항공공학부) ;
  • 박재용 (현대자동차 연구개발본부)
  • Received : 2019.12.13
  • Accepted : 2021.01.29
  • Published : 2021.03.31
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Abstract

This paper presents yaw moment control for modification of steering characteristic in rear-driven vehicle with front in-wheel motors (IWMs). The proposed control algorithm is designed to modify yaw rate response of the test vehicle. General approach for modification of steering characteristic is to define the desired yaw rate and track the yaw rate. This yaw rate tracking method can cause the chattering problem because of the IWM actuator response. Large overshoot and settling time in IWM torque response can amplify the oscillation in control input and yaw rate. To resolve these problems, open-loop IWM controller for cornering agility was designed to modify the understeer gradient of the vehicle. The proposed algorithm has been investigated via the computer simulations and the vehicle tests. The performance evaluation has been conducted on dry asphalt using E-segment test vehicle. The performance of the proposed algorithm has been compared to general yaw rate tracking algorithm in the vehicle tests. It has been shown that the proposed control law improved the cornering agility without chattering problem.

Keywords

Acknowledgement

본 연구는 국토교통부 도심도로 자율협력주행 안전·인프라 연구 사업의 연구비지원(과제번호 19PQOW-B152473-01)에 의해 수행되었다.

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