スライディングモード制御を用いた制駆動力配分と4WSの協調制御による車両の運動性能向上

概要

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The sliding mode control theory facilitates the design of nonlinear control system and also has high robustness, which controls the left and right distribution of braking/driving forces and the four-wheel-steering cooperatively. Using the sliding mode control theory, this paper proposes a practical method for improving the step response and stability of automobiles. Our theory is composed of the feed-forward control function on steering angle and the feedback control function through the differences of actual and target characteristics of vehicle dynamics, that are yaw rate and lateral acceleration. Computer simulation confirmed that when the vehicle applied this control system an improvement of the maneuverability and stability on cornering behaviors with braking was realized. In addition, our data suggest that this system makes it possible to achieve good control effects on low frictional roads. Moreover, we report the result that was examined on the dynamic distribution method to make the load rate of four wheels with longitudinal and lateral forces uniform as much as possible, when the direct yaw moment element as the control signal is converted into the longitudinal force of each tire.
久留米工業大学の論文
2000-12-20