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Tire slip based integrated chassis control for enhanced limit handling : 극한 주행 성능 향상을 위한 타이어 슬립 정보 기반 통합 샤시제어 알고리즘
DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 이경수 | - |
dc.contributor.author | 좌은혁 | - |
dc.date.accessioned | 2017-07-14T03:42:21Z | - |
dc.date.available | 2017-07-14T03:42:21Z | - |
dc.date.issued | 2016-08 | - |
dc.identifier.other | 000000136745 | - |
dc.identifier.uri | https://hdl.handle.net/10371/123908 | - |
dc.description | 학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2016. 8. 이경수. | - |
dc.description.abstract | This paper presents a tire slip based integrated chassis control (ICC) algorithm of four-wheel drive(4WD)/ electronic stability control(ESC)/electronic controlled suspension(ECS) for enhanced limit handling. The principal objective of the vehicle dynamic control algorithm for limit handling is to enable agile, steady maneuver at the limits and expand vehicle control capability to maximum. In order to achieve this objective, the ICC consists of three layers - a supervisor, an upper level controller, and a lower level controller. The supervisor determines desired vehicle motions based on driver commands to the vehicle. The upper level controller calculated virtual control inputs based on desired vehicle motion. In the lower level controller, the virtual control inputs are optimally coordinated to each chassis module based on tire combined slip for enhanced limit handling. The performance of ICC has been investigated via closed loop simulation and vehicle experiment. To investigate the ICC algorithm at the limits via closed loop simulation, the lateral driver model, which mimics professional drivers, for limit handling has been developed and utilized. In the developed driver model, body side slip angle incorporates into path tracking error in contrast to common path tracking algorithms. It has been shown that the proposed ICC algorithm effectively keeps stability and maneuverability of the vehicle at the limits. | - |
dc.description.tableofcontents | Chapter 1 Introduction 1
1.1 Study Background 1 1.2 Purpose of Research 3 Chapter 2 Vehicle Control System 5 2.1 Vehicle Chassis System 5 Chapter 3 Lateral Driver Model 8 3.1 Overall Algorithm 8 3.2 Comparison and Validation 23 Chapter 4 Development of Integrated Chassis Control Algorithm of ESC and 4WD for Enhanced Limit Handling 32 4.1 Supervisor 32 4.2 Uppel Level Controller 34 4.3 Lower Level Controller: Optimal Coordination 37 4.4 Simulation Results 47 Chapter 5 Development of Integrated Chassis Control Algorithm of ESC, 4WD, ECS and ARS for Enhanced Limit Handling 58 5.1 Supervisor 58 5.2 Upper Level Controller 59 5.3 ECS/ARS Control Allocation 59 5.4 Comparison and validation 64 Chapter 6 Vehicle Tests of 4WD/ESC/ECS Algorithm 71 6.1 Experimental Results 72 Chapter 7 Conclusion & Future Works 73 Bibliography 75 국문 초록 78 | - |
dc.format | application/pdf | - |
dc.format.extent | 1715017 bytes | - |
dc.format.medium | application/pdf | - |
dc.language.iso | ko | - |
dc.publisher | 서울대학교 대학원 | - |
dc.subject | Integrated chassis control | - |
dc.subject | Limit handling | - |
dc.subject | Combined tire slip | - |
dc.subject | Tangential error | - |
dc.subject.ddc | 621 | - |
dc.title | Tire slip based integrated chassis control for enhanced limit handling | - |
dc.title.alternative | 극한 주행 성능 향상을 위한 타이어 슬립 정보 기반 통합 샤시제어 알고리즘 | - |
dc.type | Thesis | - |
dc.description.degree | Master | - |
dc.citation.pages | 79 | - |
dc.contributor.affiliation | 공과대학 기계항공공학부 | - |
dc.date.awarded | 2016-08 | - |
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