222 タイヤ負荷のMinimax最適化による制駆動力配分 : 独立操舵車両の場合(ビークル・ダイナミクス,OS-2:運動と振動のモデリングと制御(1))

概要

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The present paper discusses the drivingbreaking force distribution for direct y aw-moment control (DYC) of the independent steering vehicle. The objective function is the maximum value of the tire workloads. In the case of conventional four wheel steering vehicle, the algebraic expression of the optimum drivingbreaking force distribution has been already deriv ed by the authors. Based on the results, the optimization algorithm for the independent steering vehicle is newly developed. For the front independent steering vehicle, the binary search is employed, and this is combined with golden section search method for the independent four wheel steering vehicle. Their convergence are guaranteed by the convexity of these optimization problems. Numerical simulations with CarSim, a popular multi-degree-of-freedom vehicle model, are performed to prove effectiveness of the proposed control scheme.
社団法人日本機械学会の論文
2004-09-27