• 한국산업정보학회논문지
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• 제28권4호
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• pp.35-43
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• 2023

차세대 전기자동차에서는 전비 향상 및 주행 성능 개선을 위하여 각 휠에 의해 직접적으로 토크를 제어하는 인 휠 모터 시스템에 대한 연구가 진행되고 있다. 이에 따라 본 논문에서는 전기자동차 구동용 인 휠 모터에 적용되는 토크 벡터링 시스템에서 각 휠에 가해지는 토크를 분배하는 알고리즘에 대한 연구를 수행하였다. 차량의 주행 및 조향에 따른 실제 차량 특성 파라미터를 적용한 차량 모델을 구현하기 위해 MATLAB Simulink 환경에서 시뮬레이션을 진행하였으며 제안된 알고리즘에 따라 토크 분배가 이뤄지는 것을 확인하였다.

• 자동차안전학회지
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• 제14권4호
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• pp.53-59
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• 2022

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.

• 한국자동차공학회논문집
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• 제22권3호
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• pp.250-256
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• 2014

EV(Electric Vehicle) has many benefits such as prevention of global warming and so on. But due to driving source changing from combustion engine to battery and e-motor, new R&D difficulties have arisen which changing of desired vehicle performance and multidisciplinary design constraints by means of strong coupled multi-physics domain problems. Additionally, dynamics performances of EV becomes more important due to increasing customer's demands and expectations for EV in compare with internal combustion engine vehicle. In this paper suggests model based development platform of EV through integrated simulation environment for improving analyse & design accuracy in order to solve multi-physics problem. This simulation environment is integrated by three following specialized simulation tools IPG CarMaker, AVL Cruise, DYMOLA that adapted to each purpose. Furthermore, control algorithm of TV(Torque Vectoring) system is developed using independent driven e-motor at rear wheels for improving handling performance of EV. TV control algorithm and its improved vehicle performances are evaluated by numerical simulation from standard test methods.

• 자동차안전학회지
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• 제5권1호
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• pp.62-68
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• 2013

This paper describes development of 4 Wheel Drive (4WD) Electric Vehicle (EV) based driving control algorithm for severe driving situation such as icy road or disturbance. The proposed control algorithm consists three parts : a supervisory controller, an upper-level controller and optimal torque vectoring controller. The supervisory controller determines desired dynamics with cornering stiffness estimator using recursive least square. The upper-level controller determines longitudinal force and yaw moment using sliding mode control. The yaw moment, particularly, is calculated by integration of a side-slip angle and yaw rate for the performance and robustness benefits. The optimal torque vectoring controller determines the optimal torques each wheel using control allocation method. The numerical simulation studies have been conducted to evaluated the proposed driving control algorithm. It has been shown from simulation studies that vehicle maneuverability and lateral stability performance can be significantly improved by the proposed driving controller in severe driving situations.

• 한국자동차공학회논문집
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• 제19권4호
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• pp.38-46
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• 2011

This paper presents roll angle estimator which used Kalman filter. Recently, the uses of the ELSD (Electronic Limited Slip Differential) and TVD(Torque Vectoring Differential) for vehicle yaw control are studied in many researches. However the roll angle can be negative effect of ELSD and TVD control. Therefore the information of roll angle can be used for vehicle yaw control. Moreover it can be used for rollover prevent control. Recently, most of the vehicles use lateral acceleration and yaw rate sensor. In this paper, design of Kalman filter which used lateral acceleration and yaw rate information is developed. In this paper, in order to verify the estimator ability, the CarSim and Matlab/Simulink are used.

• 대한기계학회논문집A
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• 제37권7호
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• pp.937-943
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• 2013

독립 구동형 전동 통합 샤시 시스템은 시스템 내구 성능 관련 신뢰성 확보, 구동 전동기 고장 시 차량 안정성 확보, 차륜 중량 증가에 따른 Ride & Handling 성능 저하 등의 문제로 실제 차량에 적용이 지연되고 있다. 본 논문에서는 이러한 문제들 중 Ride & Handling 문제를 해결하기 위해 차량의 주행성능 평가가 가능한 시뮬레이터를 개발하였다. MATLAB/Simulink를 이용하여 독립구동형 전동 샤시 시스템이 적용된 소형 전기 자동차를 모델링 하였으며, 27자유도의 차량 거동 해석이 가능한 CarSim을 이용하여 차량동역학을 모델링 하였다. 개발된 시뮬레이터를 활용하여 차량의 주행 안정성을 향상을 위한 알고리즘을 개발/검증함으로써 차량의 Ride & Handling 성능 저하 문제를 해결하고자 하였다.