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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Decoupling Control of 2WS Cars Using Direct Yaw Moment

직접요오모멘트를 이용한 이륜조향차량의 비결합 제어기 설계

  • 최재원 (부산대학교 기계공학부 및 기계기술연구소) ;
  • 조충래 (삼성전자)
  • Published : 2005.09.01
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Abstract

There exists a structural limit of 2WS cars that drivers would not like simultaneously to follow the desired path and attenuate moments resulting from disturbances because lateral acceleration and yaw rate are coupled inherently. In order to overcome the limit, the 4WS cars that have rear wheel steering as an additional input have been introduced. But the 4WS cars have disadvantages that much cost is required due to structural alteration, it is difficult to be used to the driving circumstances and tire performances are not efficient in nonlinear or large lateral acceleration ranges. Therefore, it is proposed that, in this paper, a robust controller is easy to apply to 2WS cars by using direct yaw moment, decouples lateral acceleration from yaw motion and is robust against disturbances and uncertainties of system parameters, and thus the proposed control method has the advantages of 4WS cars which can be achieved in 2WS cars.

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References

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