전륜 인휠모터 후륜구동 차량의 선회 특성 변형을 위한 요모멘트 제어

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 cau se the chattering problem becau se 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.