Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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Integrated Control of Torque Vectoring and Rear Wheel Steering Using Model Predictive Control

모델 예측 제어 기법을 이용한 토크벡터링과 후륜조향 통합 제어

  • 차현수 (서울대학교 기계공학부) ;
  • 김자유 (서울대학교 기계공학부) ;
  • 이경수 (서울대학교 기계공학부)
  • Received : 2022.06.08
  • Accepted : 2022.11.14
  • Published : 2022.12.31
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Abstract

This paper describes an integrated control of torque vectoring and rear wheel steering using model predictive control. The control objective is to minimize the yaw rate and body side slip angle errors with chattering alleviation. The proposed model predictive controller is devised using a linear parameter-varying (LPV) vehicle model with real time estimation of the varying model parameters. The proposed controller has been investigated via computer simulations. In the simulation results, the performance of the proposed controller has been compared with uncontrolled cases. The simulation results show that the proposed algorithm can improve the lateral stability and handling performance.

Keywords

Acknowledgement

본 연구는 국토교통부/국토교통과학기술진흥원의 지원으로 수행되었음(과제번호 21AMDP-C162182-01).

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