ROBUST YAW STABILITY CONTROL FOR ELECTRIC VEHICLES BASED ON ACTIVE FRONT STEERING CONTROL THROUGH A STEER-BY-WIRE SYSTEM

Title
ROBUST YAW STABILITY CONTROL FOR ELECTRIC VEHICLES BASED ON ACTIVE FRONT STEERING CONTROL THROUGH A STEER-BY-WIRE SYSTEM
Author(s)
남강현Sehoon Oh[Sehoon Oh]Hiroshi Fujimoto[Hiroshi Fujimoto]Yoichi Hori[Yoichi Hori]
Keywords
WHEEL
Issue Date
201212
Publisher
KOREAN SOC AUTOMOTIVE ENGINEERS-KSAE
Citation
INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY, v.13, no.7, pp.1169 - 1176
Abstract
A robust yaw stability control design based on active front steering control is proposed for in-wheel-motored electric vehicles with a Steer-by-Wire (SbW) system. The proposed control system consists of an inner-loop controller (referred to in this paper as the steering angle-disturbance observer (SA-DOB), which rejects an input steering disturbance by feeding a compensation steering angle) and an outer-loop tracking controller (i.e., a PI-type tracking controller) to achieve control performance and stability. Because the model uncertainties, which include unmodeled high frequency dynamics and parameter variations, occur in a wide range of driving situations, a robust control design method is applied to the control system to simultaneously guarantee robust stability and robust performance of the control system. The proposed control algorithm was implemented in a CaSim model, which was designed to describe actual in-wheel-motored electric vehicles. The control performances of the proposed yaw stability control system are verified through computer simulations and experimental results using an experimental electric vehicle.
URI
http://hdl.handle.net/YU.REPOSITORY/26765http://dx.doi.org/10.1007/s12239-012-0120-6
ISSN
1229-9138
Appears in Collections:
공과대학 > 기계공학부 > Articles
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